Design and Implementation of Hierarchical Formation Control for GPS-Based Multiple Mobile Robots in Outdoor Environment

• Main Authors: Cheng-HanYang, 楊承翰
• Other Authors: Teh-Lu Liao
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/5nu8xh

碩士 === 國立成功大學 === 工程科學系 === 103 === The research of autonomous robot has been widely discussed for many decades. As we known, the location information of the robot and thus achieve certain tasks and autonomy movement can be obtained by providing the outdoor navigation global position system, or indoor positioning system. Distributed robot was responsible for a variety of tasks, going to the specified area to achieve higher efficiency, which also makes a wide range of multi-robot systems are discussed. And the current robot formation theory is one of the hottest topics, and it can be used in hazardous areas where humans can’t reach, and then repair equipment or spots. Staged robots will help human to complete the task in order to avoid human injury. Multi-robot system which was discussed in this thesis is to realize the entire robot can maintain specially formation and the function of avoiding obstacles; going to the specified destination and to transform formation to overcome the limitations of the various obstacles. The concept of multi-robot follows the leader with law, and the group is divided into leaders and followers in turns; composed of hierarchical formation in order to achieve good control and assignments. However, in the realization among some of the issues of multi-robot formation control systems exist, such as: how to get the distance and angle between the robot and robot exchange position information with each other. To achieve the formation position of control, these are the main issues in this paper trying to overcome. The Hierarchical Formation system of robots is combined with the Global Positioning System (GPS), and control robots to overcome the terrain obstacle, make the robots to percept its own position at the outdoor environment. Further, the system uses the wireless communication technology (ZigBee) to set up the multiple robots communication and coordination purposes and to achieve the outdoor path planning through the maps, and to follow the leader robot to avoiding the obstacles. The hardware implementations are provided to verify the effectiveness of our design.