Multi-robotic system

• Main Author: Tang, Hao.
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/45780
• Institution: Nanyang Technological University

This final year project will focus on design of multi-robotics region-reaching controller by applying region control concept, which could let a group of robots approach to a same region without any collisions. And basic formation control by wheel encoder as feedback sensor will also be included in this project. To design complicated multi-robotics controller, the project is started by designing a few of single robot system first, finally the multi-robotics controller will be designed based on these single robotics systems. A Boe-Bot robot equipped with indoor localizer, javelin stamp microprocessor, uM-FPU v3.1 coprocessor, and two PWM servos is used to design the region-reach controllers. And another two Boe-Bot robots with eb500 Bluetooth communication device and wheel encoder is used to perform basic formation control. All the concepts, hardware and software used in this project, procedures of controls design and the robots performances are discussed in this report.