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Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective / KANYANG JIANG

Swansea University Author: KANYANG JIANG

Abstract

Today, with the increasing development of science and technology, many systems need to be optimized to find the optimal solution of the system. this kind of problem is also called optimization problem. Especially in the formation problem of multi-wheeled mobile robots, the optimization algorithm can...

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Published: Swansea 2022
Institution: Swansea University
Degree level: Master of Research
Degree name: MSc by Research
Supervisor: Li, Shuai
URI: https://cronfa.swan.ac.uk/Record/cronfa60190
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first_indexed 2022-06-13T12:06:39Z
last_indexed 2022-06-14T03:18:50Z
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spelling 2022-06-13T14:45:30.9150670 v2 60190 2022-06-13 Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective 19bfb955c987bd3c363596b8a8d27978 KANYANG JIANG KANYANG JIANG true false 2022-06-13 Today, with the increasing development of science and technology, many systems need to be optimized to find the optimal solution of the system. this kind of problem is also called optimization problem. Especially in the formation problem of multi-wheeled mobile robots, the optimization algorithm can help us to find the optimal solution of the formation problem. In this paper, the formation problem of multi-wheeled mobile robots is studied from the point of view of optimization. In order to reduce the complexity of the formation problem, we first put the robots with the same requirements into a group. Then, by using the virtual structure method, the formation problem is reduced to a virtual WMR trajectory tracking problem with placeholders, which describes the expected position of each WMR formation. By using placeholders, you can get the desired track for each WMR. In addition, in order to avoid the collision between multiple WMR in the group, we add an attraction to the trajectory tracking method. Because MWMR in the same team have different attractions, collisions can be easily avoided. Through simulation analysis, it is proved that the optimization model is reasonable and correct. In the last part, the limitations of this model and corresponding suggestions are given. E-Thesis Swansea Constraint Optimization, Virtual Structure, Formation Tracking, Multiple Wheeled Mobile Robots 9 6 2022 2022-06-09 COLLEGE NANME COLLEGE CODE Swansea University Li, Shuai Master of Research MSc by Research 2022-06-13T14:45:30.9150670 2022-06-13T13:04:21.9852586 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised KANYANG JIANG 1 60190__24299__5870e4e1f1674a6c8b723fd4e6e7db4c.pdf Jiang_Kanyang_MSc_Research_Thesis_Final_Redacted_Signature.pdf 2022-06-13T13:10:32.1687311 Output 2534851 application/pdf E-Thesis – open access true Copyright: The author, Kanyang Jiang, 2022. true eng
title Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
spellingShingle Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
KANYANG JIANG
title_short Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
title_full Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
title_fullStr Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
title_full_unstemmed Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
title_sort Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective
author_id_str_mv 19bfb955c987bd3c363596b8a8d27978
author_id_fullname_str_mv 19bfb955c987bd3c363596b8a8d27978_***_KANYANG JIANG
author KANYANG JIANG
author2 KANYANG JIANG
format E-Thesis
publishDate 2022
institution Swansea University
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description Today, with the increasing development of science and technology, many systems need to be optimized to find the optimal solution of the system. this kind of problem is also called optimization problem. Especially in the formation problem of multi-wheeled mobile robots, the optimization algorithm can help us to find the optimal solution of the formation problem. In this paper, the formation problem of multi-wheeled mobile robots is studied from the point of view of optimization. In order to reduce the complexity of the formation problem, we first put the robots with the same requirements into a group. Then, by using the virtual structure method, the formation problem is reduced to a virtual WMR trajectory tracking problem with placeholders, which describes the expected position of each WMR formation. By using placeholders, you can get the desired track for each WMR. In addition, in order to avoid the collision between multiple WMR in the group, we add an attraction to the trajectory tracking method. Because MWMR in the same team have different attractions, collisions can be easily avoided. Through simulation analysis, it is proved that the optimization model is reasonable and correct. In the last part, the limitations of this model and corresponding suggestions are given.
published_date 2022-06-09T04:18:06Z
_version_ 1763754205323984896
score 11.012678

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