Exploration scheme for Multi-Robots using centralized predictive controller

The project’s goal is to investigate the use of Centralized Model Predictive Control tools and techniques in a Multi-robot Navigation System. Despite extensive research in this area, there are still challenges in developing a robust and computationally efficient control strategy for multi-robot syst...

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Detalles Bibliográficos
Autor: Ghouri, Usama Hamayun
Tipo de recurso: tesis de maestría
Fecha de publicación:2024
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/424937
Acceso en línea:https://hdl.handle.net/2117/424937
Access Level:acceso abierto
Palabra clave:Robots--Motion
Automatic control
Robots--Moviment
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Exploration scheme for Multi-Robots using centralized predictive controllerGhouri, Usama HamayunRobots--MotionAutomatic controlRobots--MovimentControl automàticÀrees temàtiques de la UPC::Informàtica::RobòticaThe project’s goal is to investigate the use of Centralized Model Predictive Control tools and techniques in a Multi-robot Navigation System. Despite extensive research in this area, there are still challenges in developing a robust and computationally efficient control strategy for multi-robot systems. The focus of this project is to design Centralized Predictive Control for a uni-cycle non-holonomic multi-robot system to navigate from an initial point to a reference or target point. The objective is for all robots to reach the target point in the shortest distance and with maximum velocity while avoiding collisions with each other and obstacles. The system was first developed and validated using Casadi on MATLAB and was then tested using a simple robot called JETBOT kit of Waveshare. A top-down camera was used to map and navigate the environment using AR-Tags installed on each robot and on obstacles. The results show the feasibility and effectiveness of the proposed Non linear Predictive Controller (NMPC) based formation control approach in both simulated and real-world scenarios. The developed controller allows a group of robots to navigate complex environments, achieving coordinated motion while respecting operational constraints. This work contributes to the advancement of multi-robot formation control strategies for practical applications in mobile robotics.Universitat Politècnica de CatalunyaOcampo-Martínez, CarlosSegovia Castillo, Pablo20242024-10-0820252025-02-25master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/424937reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4249372026-05-27T15:37:01Z
dc.title.none.fl_str_mv Exploration scheme for Multi-Robots using centralized predictive controller
title Exploration scheme for Multi-Robots using centralized predictive controller
spellingShingle Exploration scheme for Multi-Robots using centralized predictive controller
Ghouri, Usama Hamayun
Robots--Motion
Automatic control
Robots--Moviment
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Exploration scheme for Multi-Robots using centralized predictive controller
title_full Exploration scheme for Multi-Robots using centralized predictive controller
title_fullStr Exploration scheme for Multi-Robots using centralized predictive controller
title_full_unstemmed Exploration scheme for Multi-Robots using centralized predictive controller
title_sort Exploration scheme for Multi-Robots using centralized predictive controller
dc.creator.none.fl_str_mv Ghouri, Usama Hamayun
author Ghouri, Usama Hamayun
author_facet Ghouri, Usama Hamayun
author_role author
dc.contributor.none.fl_str_mv Ocampo-Martínez, Carlos
Segovia Castillo, Pablo
dc.subject.none.fl_str_mv Robots--Motion
Automatic control
Robots--Moviment
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots--Motion
Automatic control
Robots--Moviment
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Robòtica
description The project’s goal is to investigate the use of Centralized Model Predictive Control tools and techniques in a Multi-robot Navigation System. Despite extensive research in this area, there are still challenges in developing a robust and computationally efficient control strategy for multi-robot systems. The focus of this project is to design Centralized Predictive Control for a uni-cycle non-holonomic multi-robot system to navigate from an initial point to a reference or target point. The objective is for all robots to reach the target point in the shortest distance and with maximum velocity while avoiding collisions with each other and obstacles. The system was first developed and validated using Casadi on MATLAB and was then tested using a simple robot called JETBOT kit of Waveshare. A top-down camera was used to map and navigate the environment using AR-Tags installed on each robot and on obstacles. The results show the feasibility and effectiveness of the proposed Non linear Predictive Controller (NMPC) based formation control approach in both simulated and real-world scenarios. The developed controller allows a group of robots to navigate complex environments, achieving coordinated motion while respecting operational constraints. This work contributes to the advancement of multi-robot formation control strategies for practical applications in mobile robotics.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-10-08
2025
2025-02-25
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/424937
url https://hdl.handle.net/2117/424937
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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