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Design and implementation of test-bed for path planning and formation control of cooperative robotic agents

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/3279

Design and implementation of test-bed for path planning and formation control of cooperative robotic agents

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Title: Design and implementation of test-bed for path planning and formation control of cooperative robotic agents
Author: Majedi, Mike
Advisor(s): Abdallah, Chaouki
Committee Member(s): Vadiee, Nader
Tanner, Herert
Department: University of New Mexico. Dept. of Electrical and Computer Engineering
Subject: Test-Bed
Robotics
LC Subject(s): Mobile robots
Degree Level: Masters
Abstract: Robots are primary candidates to perform dangerous but controlled missions. They carry cameras, surveillance instruments, and sensors to collect information and relay their findings to their human operators. Man is continuously challenged to seek uncharted territories such as outer space and the ocean’s depths. Robot data collection allows for an operator to collect data in environments where it may be unsafe for humans to do so. It also allows for humans to perform inconvenient and tedious tasks such as waiting, and collecting information over long periods of time. In this thesis, we propose to design and implement a test-bed platform, which may be used to control multiple Robots. These robotic platforms are essentially mobile wireless programmable robots with the processing power of a laptop computer. The robots consist of two mechanically motorized differential drive kinematics systems. We then discuss the capabilities of our platform with basic behaviors such as: path-to-goal, avoid-obstacle, maintain relative distance, maintain relative angle (formation), and maintain general speed to form a guidance algorithm. Furthermore we use the kinematic model of a two differential steering systems to derive the inverse kinematic equations, and generate any type of trajectory within the physical constrains of the system.
Graduation Date: July 2007
URI: http://hdl.handle.net/1928/3279


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