| Autor: |
Mutawe, Samer, Hayajneh, Mohammad, BaniHani, Suleiman, Al Qaderi, Mohammad |
| Předmět: |
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| Zdroj: |
Jordan Journal of Mechanical & Industrial Engineering; Oct2021, Vol. 15 Issue 4, p337-345, 9p |
| Abstrakt: |
The paper addresses developing a team of aerial and ground robots to accomplish multi-robot system navigation task in an accessible way. The motions of two different robotic structures, namely quadcopter, and differential drive mobile robots are simulated and controlled. Two-level controller has been adopted for the multi-robot system. A low-level controller is utilized for each robotic platform to insure its motion stability and robustness. Then, a formulation of high-level tracking controller is presented to allow each robot to avoid obstacles in a dynamic environment and to organize its motion with other flying/ground robots. The performance of the proposed system is demonstrated in a simulation environment. A modeling platform is adopted to construct the simulation environment, which allows the user to easily adjust the models and controller parameters as well as to implement different control algorithms. In addition, the simulation environment helps in analyzing the obtained results and performing several tasks in different conditions. The real-time motion of multi-robot system is monitored in the created environment that provides three-dimensional graphical displays of the robotic platforms. Simulation results show that the aerial and ground robots produced trajectories individually to reach different targets. Meanwhile, each robot in the system was able to navigate among obstacles without colliding with other agents in the network. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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