Novel Robust Motion Control Methods for the Formation of Robots with Docking Capabilities

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The theme of the applicant’s research program is on the development of novel motion control methodologies that can effectively handle disturbance/uncertainties for a frontier class of a high-utility modular mobile robots (MMRs) with docking capabilities. The use of mobile robots is dramatically increasing for applications such as in security, exploration, scientific data collection, search and rescue, etc. In the field of mobile robotics, MMRs represent a leading-edge class that offer significantly improved mobility and sensing compared to non-modular ones. Hence, recent research efforts to exploit their capabilities and enhance their functionalities are timely. Furthermore, developing efficient and novel motion control algorithms for MRRs will enable their utility for a wide spectrum of applications. The motion control methods to be developed in this proposal consist of both path planning and control algorithms for MMRs in formation operating in dynamic environments with the presence of noise and uncertainties, commonly encountered in actual robot operation environments. The formations considered in this proposal are either docked (rigid) or flexible. To the best of the applicant’s knowledge, robust motion control methods for the former (docked) that can handle disturbances/uncertainties in dynamics environments have not been introduced in the literature. For flexible formations, limited useful research has been introduced, yet more research needs to be undertaken to overcome many shortcomings that preclude the implementation of efficient motion controls for MMRs especially with the presence of noise, disturbances. The focus of this research program is on developing novel theoretical framework for motion control of MRRs, but to verify those techniques extensive simulations and experiments will be also conducted. The developed algorithms will be implemented using advanced processors such as reconfigurable computing to further increase their real-time operations. The proposed methodologies can be also applied to other systems which can fully or partially utilize the developed techniques such as in automotive, aerospace, and military/defense. This program aims to train several undergraduate and graduate students on design, modeling, advanced sensing and control of mechatronics systems that are of high demands for several industries such as automation, mining, aerospace, and automotive.