Show simple item record

dc.contributor.advisorYun, Xiaoping
dc.contributor.authorAlbayrak, Okay
dc.dateJune 1996
dc.date.accessioned2012-08-09T19:21:56Z
dc.date.available2012-08-09T19:21:56Z
dc.date.issued1996-06
dc.identifier.urihttp://hdl.handle.net/10945/8625
dc.descriptionApproved for public release; distribution is unlimited.en_US
dc.description.abstractIn 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.en_US
dc.description.urihttp://www.archive.org/details/linecircleformat00alba
dc.format.extent94 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsCopyright is reserved by the copyright owner.en_US
dc.titleLine and circle formation of distributed autonomous mobile robots with limited sensor rangeen_US
dc.typeThesisen_US
dc.contributor.secondreaderHutchins, Robert Gary
dc.contributor.corporateNaval Postgraduate School
dc.contributor.departmentDepartment of Electrical and Computer Engineering
dc.subject.authorDistributed Autonomous Mobil Robotic Systemsen_US
dc.subject.authorNomad 200 Mobile Roboten_US
dc.subject.authorPotential Field Methoden_US
dc.subject.authorNonholonomic Vehiclesen_US
dc.subject.authorFormation Problemsen_US
dc.description.serviceLieutenant, Junior Grade, Turkish Navyen_US
etd.thesisdegree.nameM.S. in Electrical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record