dc.contributor.advisor | Fossen, Thor Inge | nb_NO |
dc.contributor.author | Klausen, Kristian | nb_NO |
dc.date.accessioned | 2014-12-19T14:06:40Z | |
dc.date.available | 2014-12-19T14:06:40Z | |
dc.date.created | 2013-08-12 | nb_NO |
dc.date.issued | 2013 | nb_NO |
dc.identifier | 640177 | nb_NO |
dc.identifier | ntnudaim:8849 | nb_NO |
dc.identifier.uri | http://hdl.handle.net/11250/260829 | |
dc.description.abstract | This thesis considers the formation and behavioural control problem of a multirobotsystem. A mathematical model of the mobile vehicles are presented, followedby an introduction to behavioural control. The Null-Space based Behavioural(NSB) control [Antonelli, Arrichiello, and Chiaverini, 2005] is presented, and isused to create task functions for obstacle- and collision avoidance. The formationproblem is solved by a passivity based approach presented in [Arcak, 2007]. Thetwo controllers are combined to create a complete controller capable of maintaininggroup formations, while avoiding obstacles and inter-agent collisions. The resultsare verified by simulations and experiments on custom built robots. | nb_NO |
dc.language | eng | nb_NO |
dc.publisher | Institutt for teknisk kybernetikk | nb_NO |
dc.title | Cooperative Behavioural Control for Omni-Wheeled Robots: Experiments and simulations for formation control with obstacle- and collision avoidance | nb_NO |
dc.type | Master thesis | nb_NO |
dc.source.pagenumber | 108 | nb_NO |
dc.contributor.department | Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikk | nb_NO |