Coordinated part delivery using distributed planning
Name
702366444-MIT.pdf
Description
Full printable version
Size
7.42 MB
Format
Adobe PDF
Checksum (MD5)
03fc037fc7a6b8b60ed6024f6f85b392
Author(s)
Bolger, Adrienne (Adrienne M.)
Advisor(s)
Daniela Rus.
Alternative Title
Coordinated part delivery UDP
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, we develop a distributed mobile robot platform to deliver parts around a model construction site. The platform's robots, specialized into delivery robots and assembly robots, use a distributed coverage algorithm to determine where parts should be delivered. The robots consist of a mobility platform (iRobot iCreate), a manipulation platform (Crustcrawler arm), and an IR communication system to enable recognition and grasping of parts. To control the robot hardware, we implemented software in Java. The delivery robots use IR communication to find parts at a supply station. After communicating over UDP multicast with assembly station robots, the delivery robots deliver parts to the assembly robots based on their coverage control algorithm. To evaluate the algorithm, we constructed a hardware system of 4 robots, connected to a VICON motion capture system for localization. We discuss the results of successful hardware and software testing of the system as a method of delivering parts around a construction site, and we discuss future plans to use the platform to assemble parts once delivered.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 81-82).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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