Mobile Robots Control and Path Planning Strategies

Furci, Michele (2016) Mobile Robots Control and Path Planning Strategies, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Automatica e ricerca operativa, 28 Ciclo. DOI 10.6092/unibo/amsdottorato/7511.
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Mobile robots gained lots of attention in the last decades. Because of its flexibility and increased capabilities of automation, mobile robots are used in many applications: from domotic, to search and rescue missions, to agriculture, environment protection and many more. The main capability of mobile robots to accomplish a mission is the mobility in the work environment. To move in a certain environment the robots should achieve: guidance, navigation and control. This thesis focuses on guidance and control of mobile robots, with application to certain classes of robots: Vertical Take Off and Landing Unmanned Aerial Vehicles (VTOL UAV) and Differential Wheel robots (DWR). The contribution of this thesis is on modeling and control of the two classes of robots, and on novel strategies of combined control and motion planning for kinodynamic systems. A new approach to model a class of multi-propeller VTOL is proposed, with the aim of generating a general model for a system as a composition of elementary modules such as actuators and payloads. Two control law for VTOL vehicles and DWR are proposed. The goal of the first is to generate a simple yet powerful control to globally asymptotically stabilize a VTOL for acrobatic maneuvers. The second is a simple saturated input control law for trajectory tracking of a DWR model in 2D. About planning, a novel approach to generate non-feasible trajectories for robots that still guarantees a correct path for kinodynamic planning is proposed. The goal is to reduce the runtime of planners to be used in real-time and realistic scenario. Moreover an innovative framework for mobile robots motion planning with the use of Discrete Event Systems theory is introduced. The two proposed approaches allow to build a global, robust, real-time, quasi-optimal, kinodynamic planner suitable for replanning.

Tipologia del documento
Tesi di dottorato
Furci, Michele
Dottorato di ricerca
Scuola di dottorato
Scienze e ingegneria dell'informazione
Settore disciplinare
Settore concorsuale
Parole chiave
robotics mobile robots control path planning motion planning non-linear control kinodynamic UAV VTOL quadrotor rover SHERPA drone DES DESP lattice graph discrete event system
Data di discussione
27 Maggio 2016

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