Beta 1


Title Cooperative Mobile Robots
Author Hansen, Ole Fink
Monrad, Michael
Supervisor Ravn, Ole (Automation, Ørsted DTU, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Andersen, Nils Axel (Automation, Ørsted DTU, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2005
Abstract Software for the exploration task and the search task on multiple heterogeneous robots has been developed in this Master’s Thesis. The robots build a map of the environment using low-cost IR range finders and search for red objects in the area using a webcam. Furthermore, to extend the sensing capabilities of the robots, a bump sensor has been implemented. Communication is carried out on a P2P network for fault tolerance. The P2P network is based on JXTA and robots can join and leave the team dynamically. Path planning is conducted using the D• Lite algorithm and a new method for smoothening and shortening this path is proposed. The robots are coordinated such that they distribute themselves in the environment without relying on a central agent and select new areas to explore in a greedy manner. A human agent can participate in the team. This agent receives pictures of red objects found by the robots for verification, ie. the human agent might only be interested in a specific kind of object. A multi-robot simulator has been implemented. All relevant robot components have been modeled, in particular sensors and actuators. New environments are inserted in the form of a drawn bitmap or a photo. The solution has been tested on real mobile robots and simulated. The software is able to run locally on the robots, ie. on lowend PCs. The result of the simulation shows that the software scales to many robots.
Admin Creation date: 2006-06-22    Update date: 2007-02-24    Source: dtu    ID: 188327    Original MXD