كنترل حركت و هماهنگي ربات هاي متحرك به منظور تعقيب يك هدف متحرك در يك محيط ديناميكي

چكيده انگليسي :

Motion Control and Coordination of Multiple Mobile Robots to Track a Moving Target in a Dynamic Environment Reza Rezaei rezarezaei22@gmail com Date of submission 2011 09 19 Depatrment of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiSupervisors Dr Mohammad Danesh danesh@cc iut ac irDr Hasan Moosavi moosavi@cc iut ac irAbstractIn recent years the diversity and applications of robots are considerably growing and the development oftechnology provides new facilities to employ the robots more and better Single robot systems are not thebest way in all applications of robots Growing range of issues and problems that will exist in the future willbring potential benefits of multi robot systems For instance search and rescue problem mapping ofhazardous and hostile environments target searching and tracking space and submarine explorations are themissions that the multi robot systems will be utilized to execute them However utilizing a group of robots toimplement the tasks needs a mechanism to coordinate the motions and behaviors of robots so that they canperform effectively the tasks while interacting and cooperating with other robots Therefore this researchconcerns to designing a coordination mechanism to improve the efficiency and performance of multi robotsystems In this thesis the problems of coordination and motion design in multi robot systems are discussed by usingartificial potential field method The mission of system is target tracking in a dynamic environment whileavoiding any collision with other agents Thus we encounter three major problems to design the motion ofrobots 1 target tracking 2 collision avoidance and 3 the problem collision between robots The problem oftracking a moving target has received a great deal of attention within the wide existing literature on mobilerobots The objective is to achieve tracking of a moving target by a group of mobile robots To design the coordination and motion planning of robots a total potential field composed of the target s robots and obstacles potential fields is formed so that it navigates the robots toward the target and providesa trajectory without any obstacle Verification and simulation results validate the effectiveness of thedesigned multi robot system The target tracking problem is to estimate the state of a target1 based oninaccurate measurements from sensors The estimation process contains many uncertainties for example themeasurements are corrupted by noise the origins of the measurements are unauthenticated the motion of thetarget is unknown etc The target tracking problem has been studied in diverse research areas with manyapplications in mind The motion tracking and estimation of moving objects in the vicinity of a mobile robotis also a fundamental capability for safe navigation Populated environments are challenging to contemporarymobile robots One of the main reasons is the presence of dynamic objects whose motions are diverse eg due to pedestrians bicycles automobiles etc Since some objects move faster than the robot motiondetection and estimation for potential collision avoidance are the most fundamental skills that a robot needsto function effectively in dynamic environments Needless to say target tracking is a key enabler for robustmotion estimation The artificial potential field has some limitations In this thesis the problem of local minimum point isdiscussed and a novel approach for this problem is presented The effectiveness of this approach is verifiedby simulation Finally the thesis is concluded and some research problems are suggested KeywordsCoordination Multi robot system Motion planning Potential field method Mobile robots

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كنترل حركت و هماهنگي ربات هاي متحرك به منظور تعقيب يك هدف متحرك در يك محيط ديناميكي

سيستم هاي چند رباتي , طراحي حركت , روش ميدان پتانسيل مصنوعي