Line and circle formation of distributed autonomous mobile robots with limited sensor range
By: Okay Albayrak
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1996
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 94
Description: In the literature, formation problems for idealized distributed autonomous mobile robots were studied. Idealized robots are represented by a dimensionless point, are able to instantaneously move in any direction and are equipped with perfect range sensors. In this thesis, line and circle formation problems of distributed mobile robots that are subjected to physical constraints are addressed. It is assumed that mobile robots have physical dimensions, and their motions are governed by physical laws. They are equipped with sonar and infrared sensors in which sensor ranges are limited. A new line algorithm based on least-square line fitting, a new circle algorithm, and a merge algorithm are presented. All the algorithms are developed with consideration of physical robots and realistic sensors, and are validated through extensive simulations. Formation problems for mobile robots with limited visibility are also studied. In this case, robots are assumed to be randomly distributed in a large rectangular field such that one robot may not see other robots. An algorithm is developed that makes each robot converge to the center of the field before executing a line or circle algorithm.
Notes: "June 1996."

Thesis advisor(s): Xiaoping Yun.

Thesis (M.S. in Electrical Engineering) Naval Postgraduate School, June 1996.

Includes bibliographical references.

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat reader.

Turkish Navy author.

dk/dk cc:9116 11/12/96