Development of multi-robot system : coordination and formation

• Main Author: Wong, Guan Xiong.
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/15941
• Institution: Nanyang Technological University

This report outlined the project on coordination and formation of a multi-robot system. Nowadays, robots are contributing greatly to the society. However, having just one robot to do a task will not be as efficient as multiple robots doing the same tasks. The project involved developing multiple robots that would maneuver in a formation due to the environment or space constrain. Firstly, some literature review on kinematics is done in this report. Next, this report describes and introduced the robots (3 BB robots) used in the project. Then it continues with the implementation of vision control (StarGazer) on one of the BB robots where precision can be achieved while maneuvering. The gist of this report is the part on the coordination and formation of the robots. It looks at how the robots coordinate together to form a formation. Three types of formation are implemented. They are triangular formation, vertical formation and horizontal formation. Results of the formations done by the robots are also presented in this report. Finally, this report closes with some recommendations for the limitations discovered in the process of doing the project and a conclusion to wrap up the project.