Within the field of multi-robot control, there is a large focus in research involving consensus. In this thesis two parts will be studied. The first development of this thesis is a consensus-based robot arm platform. To implement, two robotic arms are developed and studied. The most effective robot arm is then utilized to create a robot arm network testbed. Consensus is used to coordinate several robot arms and decentralize system computation. The research explores a platform to facilitate consensus on a group of robotic arms. The second development is in Cartesian coordinate collective motion. This collective motion control combines consensus through coupling of Cartesian coordinates. The controller is presented with simulation and experimental validation. Integration of both parts of the thesis is then discussed in application. An example is provided to demonstrate usefulness. In conclusion, this thesis provides more control to a system of ground robots using collective motion and consensus-based robot arms.
| Identifer | oai:union.ndltd.org:UTAHS/oai:digitalcommons.usu.edu:etd-1434 |
| Date | 01 May 2009 |
| Creators | Stuart, Daniel Scott |
| Publisher | DigitalCommons@USU |
| Source Sets | Utah State University |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | All Graduate Theses and Dissertations |
| Rights | Copyright for this work is held by the author. Transmission or reproduction of materials protected by copyright beyond that allowed by fair use requires the written permission of the copyright owners. Works not in the public domain cannot be commercially exploited without permission of the copyright owner. Responsibility for any use rests exclusively with the user. For more information contact Andrew Wesolek (andrew.wesolek@usu.edu). |
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