Coordinated Control for Collective Motion

Project Title

Coordinated Control for Collective Motion

Project Area of Specialization RoboticsProject Summary

Recently, the collective motion (coordination of movement) of multiple vehicle systems has received considerable attention because of its broad range of engineering applications. The accomplishment of many robotic tasks requires the coordination of a group of mobile robots which generally outperforms robots operating independently. This project will extend ongoing work by developing state-of-the-art techniques for: 

(i) collision avoidance under energy and vehicle dynamics constraints; 

(ii) nonlinear filtering for tracking a maneuvering robot;

(iii) formation topologies for collective motion.

Project Objectives

1. Implement trajectory generation and re-planning for collision avoidance subject to energy constraints and robot dynamics constraints.
2. Implement nonlinear filtering for tracking the robots.
3. Build 3 robots capable of navigating autonomously in a coordinated fashion in a static environment.

Project Implementation Method

The project will be undertaken by 3 students. Each student will work independently on one of the 3 aims of this project (see Project Objectives). This will ensure progress on each of the 3 aims.
Student (S)1 will focus on trajectory generation and re-planning for collision avoidance; S2 will focus on the target tracking algorithm for robot localization; S3 will focus on hardware development and mapping the algorithms for onboard execution.
In the initial phase, S1 will study a special class of curves, namely the Pythagorean hodograph (PH) Bézier curves for trajectory generation and review the literature on collision avoidance under constraints. S2 will review the literature on target tracking for nonlinear state space models. S3 will study robot design, hardware platforms and how to map the algorithms for onboard execution.
In the next phase, S1 will conduct simulation studies using MATLAB to demonstrate trajectory generation and collision avoidance. S2 will conduct simulation studies using MATLAB to demonstrate target tracking for nonlinear models. S3 will build a prototype of the robot and conduct preliminary tests.
In the final phase, S1 will map the algorithm for trajectory generation in Python for onboard execution. S2 will map the algorithm for robot tracking in Python for onboard execution. S3 will integrate the software for onboard execution and conduct tests to demonstrate the project.

Benefits of the Project

There are a number of engineering applications including unmanned sensor networks, for example, autonomous underwater vehicles (AUVs). Industry applications include exploration, security patrols, scouting and hunting missions, search and rescue.

Unmanned ground vehicles (UGVs) with advanced imaging can be used to cheaply and effectively map and accelerate clearing of minefields. 

In the manufacturing industry, UGVs (also known as automated ground vehicles [AGVs]) are used for transporting heavy equipment. For example, the aerospace industry uses AGVs for precision positioning and transporting heavy, bulky pieces between manufacturing stations, which is less time-consuming than using large cranes.

Technical Details of Final Deliverable

The final deliverables will include:

1. MATLAB & Python software for trajectory generation & collision avoidance;
2. MATLAB & Python software for nonlinear filtering;
3. three robots capable of navigating autonomously in a coordinated fashion in a static environment.

Final Deliverable of the Project HW/SW integrated systemType of Industry Transportation , Security Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	68100
Raspberry Pi model B+	Equipment	3	9000	27000
Motor Kit	Equipment	3	1200	3600
Ultrasonic Sensor	Equipment	12	600	7200
GPS Sensor	Equipment	3	1600	4800
Rechargeable 12V LiPo Battery	Equipment	3	2500	7500
Body Kit	Equipment	3	6000	18000