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Implementation of Sound-Based Formation Control for a Group of E-Puck Mobile Robots


Alex Trofimov

Master Thesis, FS13 (10226)

The goal of the project is the evaluation of sound as a way to exchange distance information and implementation of what we call a ”Chase Game”, where a group of mobile robots builds a formation and then collectively tracks and pursues another robot. The ”e-puck” robots used in the project have differential-drive kinematics and are equipped, among other things, with microphones, speakers and Bluetooth. In the first part of the project, sound has been used as the way for the robots to locate each other. An algorithm based on the spectral analysis of the microphone measurements has been implemented on the robots, allowing them to measure the distance and the angle to multiple sound sources simultaneously. The performance of the of the algorithm is analyzed, including the limitations due to the acoustic effects and the limited onboard computation power. In the second part of the project, sound measurements have been replaced by the simulated distance and angle measurements coming from the top-down camera tracking system. A computationally efficient delay-correction method for the Kalman Filter has been implemented to account for the significant image processing and communication delay of the camera measurements. Finally, implemented formations of different complexity are presented and discussed, comparing the experiments with sound measurements, the experiments with camera measurements and the simulations.


Type of Publication:

(12)Diploma/Master Thesis

M. Colombino

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2013:IFA_4520
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