Cooperative control of intelligent robot network
The research on robot has been a hot topic nowadays. Within the field, formation control on multi-robot systems has attracted special attention because of its wide usage in various complicated scenarios such as target enclosing and load transport. Among the existing methods for formation control of...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/157705 |
| _version_ | 1826125198467792896 |
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| author | Zong, Chuqiao |
| author2 | Hu Guoqiang |
| author_facet | Hu Guoqiang Zong, Chuqiao |
| author_sort | Zong, Chuqiao |
| collection | NTU |
| description | The research on robot has been a hot topic nowadays. Within the field, formation control on multi-robot systems has attracted special attention because of its wide usage in various complicated scenarios such as target enclosing and load transport. Among the existing methods for formation control of robot swarms, the leader-follower approach has been proved to be a powerful one. Furthermore, due to the rapid development of deep neural network, deep reinforcement learning has also been a significant technology, which can be applied in robot control field. In this project, we first study one of the latest leader-follower formation control protocol which can deal with time-varying formation tasks and switching communication topologies. In the second stage, we study and discuss the feasibility of applying reinforcement learning methodology in robot control and tracking missions and develop a reinforcement learning approach for a simple robot control task. Finally, we embed reinforcement learning into the leader-follower formation control protocol, which can be a new direction of multi-robot control algorithm design. |
| first_indexed | 2024-10-01T06:32:47Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/157705 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:32:47Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1577052023-07-07T19:01:46Z Cooperative control of intelligent robot network Zong, Chuqiao Hu Guoqiang School of Electrical and Electronic Engineering GQHu@ntu.edu.sg Engineering::Electrical and electronic engineering The research on robot has been a hot topic nowadays. Within the field, formation control on multi-robot systems has attracted special attention because of its wide usage in various complicated scenarios such as target enclosing and load transport. Among the existing methods for formation control of robot swarms, the leader-follower approach has been proved to be a powerful one. Furthermore, due to the rapid development of deep neural network, deep reinforcement learning has also been a significant technology, which can be applied in robot control field. In this project, we first study one of the latest leader-follower formation control protocol which can deal with time-varying formation tasks and switching communication topologies. In the second stage, we study and discuss the feasibility of applying reinforcement learning methodology in robot control and tracking missions and develop a reinforcement learning approach for a simple robot control task. Finally, we embed reinforcement learning into the leader-follower formation control protocol, which can be a new direction of multi-robot control algorithm design. Bachelor of Engineering (Electrical and Electronic Engineering) 2022-05-19T05:20:38Z 2022-05-19T05:20:38Z 2022 Final Year Project (FYP) Zong, C. (2022). Cooperative control of intelligent robot network. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/157705 https://hdl.handle.net/10356/157705 en A1063-211 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Zong, Chuqiao Cooperative control of intelligent robot network |
| title | Cooperative control of intelligent robot network |
| title_full | Cooperative control of intelligent robot network |
| title_fullStr | Cooperative control of intelligent robot network |
| title_full_unstemmed | Cooperative control of intelligent robot network |
| title_short | Cooperative control of intelligent robot network |
| title_sort | cooperative control of intelligent robot network |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/157705 |
| work_keys_str_mv | AT zongchuqiao cooperativecontrolofintelligentrobotnetwork |