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dc.contributor.advisorGravdahl, Jan Tommy
dc.contributor.authorHalvorsen, Henrik Malvik
dc.date.accessioned2018-08-27T14:01:37Z
dc.date.available2018-08-27T14:01:37Z
dc.date.created2018-06-03
dc.date.issued2018
dc.identifierntnudaim:18620
dc.identifier.urihttp://hdl.handle.net/11250/2559482
dc.description.abstractWhich technologies and algorithmic design are suitable for both the control strategy and the communication protocol to ensure robustness within a robotic swarm? The aim of this study is to answer this question. The study is performed by obtaining an understanding of the field of swarm robotics and proposing a robotic swarm system with robustness in mind. The robotic swarm system contains possible solutions for the control strategy, the communication protocol, hardware design and an in-room localization method. The innovative part of this swarm system is the idea of joining communication and control in a cooperative manner, based on previous studies on different robotic swarms. The communication protocol was designed to establish a mesh topology using the Thread protocol, MQTT-SN and ROMANOs. ROMANOs is a new application overlay protocol based on ROMANO, and is first introduced in this project. The control strategy introduces a potential-field based PID-controller, designed for its efficiency and practical approach. The cooperation between communication and control is the fact that the estimation of signal strength values will directly affect the potential fields of the control strategy. The control strategy will then initiate control actions to maintain the communication network. The hardware design platform consists of two printed circuit boards that houses all necessary electronics to realize the swarm algorithm, and a 3D-printed cylindrical chassis. The in-room localization method is based on ranging measurements from laser sensors, signal strength estimates and heading computations based on magnetometer data. A listening device consisting of a Node.JS MQTT module is created in order to acquire performance data from the swarm which is stored in an SQL database and further analysed in MATLAB. The proposed swarm application yields a mostly favorable, but mixed result. The joint control- and communication algorithm is successful in finding a local minima within the network and maintaining said network. However, some parts of the algorithm are taxing and could be further refined. The communication protocol is only able to maintain a messaging frequency of up to 5 Hz for a six-member swarm, and the processor is only able to run the proposed swarm algorithm at a maximum of 50 Hz. What measures that should be taken to mitigate this and future work for this swarm application will be proposed. Nevertheless could the proposed swarm application work as an important stepping-stone for a true robust swarm application in the future. Keywords : robotic swarms, potential-field based control, thread mesh network, MQTTSN, ROMANO, laser distance measurements, magnetometer, joint control- and communication algorithm, PCB design, algorithm design, robust swarm application
dc.languageeng
dc.publisherNTNU
dc.subjectKybernetikk og robotikk (2 årig), Roboter og fatøystyring
dc.titleRobust Potential Field-Based Communication & Control Architecture for Robotic Swarms - Using the nRF52 System-on-Chip and a mesh network topology
dc.typeMaster thesis


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