Controle de formações homogêneas e heterogêneas para robôs móveis

Detalhes bibliográficos
Ano de defesa: 2018
Autor(a) principal: Rabelo, Marcos Felipe Santos
Orientador(a): Não Informado pela instituição
Banca de defesa: Não Informado pela instituição
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: por
Instituição de defesa: Universidade Federal do Espírito Santo
BR
Mestrado em Engenharia Elétrica
Centro Tecnológico
UFES
Programa de Pós-Graduação em Engenharia Elétrica
Programa de Pós-Graduação: Não Informado pela instituição
Departamento: Não Informado pela instituição
País: Não Informado pela instituição
Palavras-chave em Português:
Link de acesso: http://repositorio.ufes.br/handle/10/10919
Resumo: Multi-robot systems have advantages over working with a single robot. It allows reducing the task-execution time and more robustness, through redundancy. In such a context, this Master Thesis proposes a multilayer control structure to control a formation of two mobile robots, considering homogeneous (identical robots) or heterogeneous (different robots) formations. Unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV) are considered. The strategy adopted considers the two robots as a single virtual structure, in this case represented by a straight line segment. The two-dimensional model was developed, considering a homogeneous formation composed just by terrestrial robots, as well as the three-dimensional one, now considering a UGV and a quadrotor (a heterogeneous formation). For system validation, experiments were carried out with the Pioneer 3-DX terrestrial robot and the AR.Drone 2.0 quadrotor, in positioning and trajectory-tracking tasks, for both 2D and 3D models. For the heterogeneous formation, the poses of the two robots were obtained through the OptiTrack motion capture system, and from these data the velocities were also obtained, by differentiation. Finally, to demonstrate the versatility of the proposed control structure, simulations were carried out involving a new homogeneous formation, now composed by two quadrotors.