Motion-Planning Using RRTs for a Swarm of Robots Controlled by Global Inputs

dc.contributor.advisorBecker, Aaron T.
dc.contributor.committeeMemberFaghih, Rose T.
dc.contributor.committeeMemberTsekos, Nikolaos V.
dc.contributor.committeeMemberLeclerc, Julien
dc.creatorJoshi, Parth Mukeshkumar
dc.creator.orcid0000-0003-0911-4090
dc.date.accessioned2019-09-10T16:41:53Z
dc.date.createdDecember 2018
dc.date.issued2018-12
dc.date.submittedDecember 2018
dc.date.updated2019-09-10T16:41:54Z
dc.description.abstractSmall-scale robots have great potential to bring transformation in the field of medical applications, defense systems, security, micro-assembly and many other areas. Imagine a group of milli, micro or nano-robots that can navigate inside the body to solve medical problems, or a swarm of robots that can paint a beautiful painting. Robots containing iron can be steered using a magnetic field generated by an MRI scanner, but all the robots will move in the same direction because the magnetic effect is global and not local. This thesis uses a customized version of the motion-planning technique called Rapidly Exploring Random Tree (RRT) to solve this problem for multiple robots by using obstacles. This thesis project solves instances of this motion-planning problem for more than one robot when steered using a magnetic field, and develops a motion planner that searches for sequences of control inputs to simulations steer the robots to desired goal positions.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/10657/4443
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectSwarm robots
dc.subjectMotion planning and controls
dc.subjectRapidly exploring random tree (RRT)
dc.titleMotion-Planning Using RRTs for a Swarm of Robots Controlled by Global Inputs
dc.type.dcmiText
dc.type.genreThesis
local.embargo.lift2020-12-01
local.embargo.terms2020-12-01
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentElectrical and Computer Engineering, Department of
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Electrical Engineering
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