Formation Control of Wheeled Mobile Robots
PI: Prof. Wenjie Dong
Cooperative control of a group of mobile robots has many important applications ranging from scouting and reconnaissance, to search and rescue and manipulation tasks. This lab’s research focuses on the design of distributed cooperative control algorithms such that the states of a group of systems converge to a desired trajectory, known only to a subset of robots in the group, with the aid of neighbors' information. Various control laws have been developed with the aid of Lyapunov techniques and results from graph theory. The implementation and verification of the effectiveness of the developed control laws are being conducted using a test-bed consisting of several mobile robots.
The teachers will learn the use of simulation tools to test the formations of mobile robots. Teachers will assist in the design and implementation of experiments to verify the applicability of the developed control laws using the mobile robots in the lab. The project would be appropriate for middle and high-school math, science or technology teachers, and would strengthen curriculum in mathematics and robotics.
