كنترل هماهنگي ربات هاي متحرك همكار براي دنبال كردن چند هدف در يك محيط ديناميكي

چكيده انگليسي :

Coordination control of cooperative mobile robots for multi target tracking in a dynamic environment Saeid Kamrani saeid kamrani1986@yahoo com Date of Submission 2015 08 05 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiSupervisors Dr Mohammad Danesh danesh@cc iut ac ir Dr Hasan Moosavi moosavi@cc iut ac ir AbstractIn recent years robot team systems have been growing as a new domain in robotic Researches in this field havebeen done more about single robot systems however by technology development and necessity of using stableand flexible systems with higher performance robot team systems were suggested in which some robots cooperatewith each other to perform a mission Path planning of robot teams for single or multi target tracking has attractedattention of researchers as an important field in such systems However utilizing robot team systems have manyissues and challenges along and control of these systems may be complex In this research the problems of path planning and coordination control of a cooperative mobile robot team formulti target tracking are studied The environment is dynamic and time variant and robots are required to chooseand pursue appropriate target while avoiding any collision with obstacles and other robot teammates Thus somemajor issues are important for motion planning of robots in this research 1 choosing appropriate target for eachrobot 2 pursuing selected target properly 3 avoiding collision with static and moving obstacles 4 avoidingcollision with other robot teammates 5 switching target capability by robots according to the dynamicenvironment conditions Potential field approach is used for the path planning of robot team in this thesis This method has been widelyused for mobile robot path planning due to its simplicity simultaneous goal seeking and obstacle avoidancebehaviors real time application and elegant results The potential field method constructs an attractive potentialfield to direct the robot toward its goal and meanwhile it has the ability to construct high potential fieldssurrounding obstacles to avoid collision with them The approach is utilized in this research with somemodifications a velocity term considering velocities of robot and target a distributing mission coefficient forselecting appropriate target for each robot and also a repulsive potential force for collision free movement ofrobots with other teammates in addition to obstacles are added to the conventional potential field For thepurpose of robots coordination control a basic coordination mechanism for choosing targets based on the distancebetween robot and target is proposed This mechanism predicts any number of robots and targets Besides importance of targets to be tracked is also considered according to each target weight and by introducing a costparameter Moreover for targets which are necessarily needed to be followed by one or some robots anothercoordination mechanism is proposed Finally a method for coordination control is introduced based on the timeestimation parameter of a robot to reach a target and compared with the distance based coordination control in allcases of equiponderant weighted and essential target pursuit Simulations are presented for all of the abovementioned cases Comparison between distance based and estimation time based mechanism performances showssignificant improvements in robots system performance by using time estimation parameter Some of them arelower distance travelled by robots to reach targets lower time elapsed to get targets and lower mean velocity ofrobots due to better choosing targets Key WordsPath planning Coordination control Potential Field Multi target tracking Time estimation

كامراني، سعيد

كنترل هماهنگي ربات هاي متحرك همكار براي دنبال كردن چند هدف در يك محيط ديناميكي

طراحي مسير , ميدان پتانسيل , تعقيب جند هدف , پارامتر تخمين زمان