M.S. Thesis Chapter 7 (Full): Simulations and Results

Description: Videos and figures compilation from Chapter 7 of my M.S. Thesis.
Summary: In chapter 6, we formulated the dynamics equation for group of robots and solve the constrained dynamic using three different approaches. In this chapter, we set up
standard test bed to evaluate the performance for each of the three methods for their ability to maintain strict formation for task such as cooperative payload transport. We
will use Method I, the direct Lagrange multiplier elimination method as the performance benchmark. Using this benchmark, we would like to specifically compare Method II,
penalty formulation approach, and Method III, constraint manifold projection approach.
Case Study 1: Motion planning for three mobile robots moving in a potential field without obstacles;
Case Study 2: Motion planning for three mobile robots moving in a potential field with obstacles;
Case Study 3: Motion planning for three mobile robots moving in a potential field without obstacle while permitting formation expansion;
Case Study 4: Motion planning for three mobile robots moving in a potential field without obstacle while permitting change of formation shapes.

Duration : 0:9:28


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