Leader follower pattern formation control using ros for mobile robot application

Ahmad Hakimi, Hasnan (2022) Leader follower pattern formation control using ros for mobile robot application. College of Engineering, Universiti Malaysia Pahang.

EA18160_AHMAD HAKIMI_THESIS - Hakimi Hasnan.pdf - Accepted Version

Download (4MB) | Preview


In this project, the mobile robots with the leader-follower formation control is being created. The formation problem is converted to a trajectory tracking problem and a reference trajectory is generated for each follower. After that, a tracking controller from the literature is applied to drive the robots towards their corresponding desired trajectories and then the formation will be formed as the follower will also move. Our target and objective in this project are to design a mobile robot leader follower with obstacle avoidance while analyze the robot formation control based on the desired position in different environment. In addition, we are also to design a control strategy of the mobile robot formation with obstacle avoidance. In facts, this is the major parts to ensure that all unwanted incident can be avoid after be applied in later. To achieve all the desired objective, a new framework is proposed for implementing the formation control laws on nonholonomic mobile robots based on ROS (Robot Operating System). ROS will be used to be the main system in controlling the hardware and also to create a virtual environment, generate robot model called Turlebot and implement the algorithms such as SLAM. ROS provides some convenient packages with ROS node and the SLAM algorithms that make the formation problem easier to solve. The creation of the hardware parts is using the raspberry pi 3b+ and the OpenCR as the main component while the creation of the virtual environment will be done by using Gazebo and Rviz (ROS Visualization). Our propose work in this project is to design for the turtlebot3 burger equipped with Lidar sensor as the main mobile robot to have the obstacle avoidance and the formation control. The environment of different formation control will be created and will be analyze in this project. As addition, We will create the track and the indoor environment map to simulate all the testing in this project. We will investigate Turtlebot ability to keep the formation with desired velocity. After that, the obstacle avoidance task will be applied to the same Turtlebot to avoid any circumstances that block its way. This Turtlebot soon will be a leader for multiple mobile robots that will follow it as follower with the help of LDS to detect the distance between them with their leader and provide the information for reference trajectory.

Item Type: Undergraduates Project Papers
Additional Information: SV: Prof. Dr. Hamzah Bin Ahmad
Uncontrolled Keywords: Robot operating system (ROS), mobile robot application
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: College of Engineering
Depositing User: Mr. Nik Ahmad Nasyrun Nik Abd Malik
Date Deposited: 25 Oct 2023 07:13
Last Modified: 25 Oct 2023 07:13
URI: http://umpir.ump.edu.my/id/eprint/39021
Download Statistic: View Download Statistics

Actions (login required)

View Item View Item