Controle de formações homogêneas e heterogêneas para robôs móveis

• Autor(a) principal: Rabelo, Marcos Felipe Santos
• Data de Publicação: 2018
• Tipo de documento: Dissertação
• Idioma: por
• Título da fonte: Repositório Institucional da Universidade Federal do Espírito Santo (riUfes)
• Texto Completo: http://repositorio.ufes.br/handle/10/10919
• topic: Robótica; Robôs móveis; Navegação de robôs móveis; Controle automático; Engenharia Elétrica; 621.3

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.