تصميم وتنفيذ نظام تشكيل داخلي متعدد الروبوتات == DESIGN AND IMPLEMENTATION OF AN INDOOR MULTI MOBILE ROBOT FORMATION SYSTEM
Author name:
اسراء صبري عبد الامير الفراتي
Supervisor name:
Abdulmuttalib T.Rashid
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electrical Engineering
Degree:
Doctorate
University:
University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language:
English
Key words:
- Background
- Literature Review
- Multi Robot Localization
- Path Planning of Mobile Robot
- Formation of Multi Robot
- Objectives of the Work
- Outline and Main Contributions
- Scope of The Work
- WO: MULTI-ROBOT LOCALIZATION SYSTEM
- Introduction
- The Physical Construction of the Localization System
- The Environment Setup
- The Robot Sensors
- Binary Search Algorithm
- The Modified Binary Search Algorithm Title
- Robots Localization According to the LDRs Locations
- Robot Location Estimation Using Three LDR Active Sensors
- or More
- Robot Location Estimation Using Two LDR Active Sensors
- Robots Localization According to the LEDs Locations
- Minimum Bounded Circle Algorithm
- The K-means Clustering Algorithm
- Simulation Results
- Conclusions
- REE: PATH PLANNING OF MOBILE ROBOT
- Introduction
- Mobile Robot Kinematic Model
- Path Planning in an Environment Free of Obstacles
- The Arc of Circle Tangent Construction Algorithm (ACTC)
- Short Distance Orientation (SDO) Algorithm
- Shortest Path with Obstacles Avoidance (SPOA) Algorithm
- The Simulation Result
- The Conclusions
- UR: FORMATION OF MULTI-ROBOT SYSTEM
- Introduction
- Multi-Robot in Ordered Formation (MROF) Algorithm
- Multi-Robot in Shortest Formation (MRSF) Algorithm
- Simulation Results
- Conclusions
- VE: MULTI-ROBOT SYSTEM IMPLEMENTATION
- Introduction
- Performance Evaluation of Environment Sensors Title
- LED - LDR Pair Sensor
- Validation of LED - LDR Pair Sensor
- IR Transmitter and Receiver Pair
- Validation of IR Sensors
- Radiofrequency Identification (RFID) Tags
- Validation of RFID Tags
- The Most Appropriate Sensors for Localization
- Hardware Design of the Robot Localization System
- Implementation of the Environment
- Implementation of Differential Drive Mobile Robot
- Practical Results of Localization System
- Conclusion
- X: CONCLUSIONS AND FUTURE WORKS
- Conclusions
- Future works
First pages:
T105749 - p.pdf
