Tesi etd-04072011-221851 |
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Tipo di tesi
Tesi di dottorato di ricerca
Autore
ERDOGAN, MEHMET EREN
URN
etd-04072011-221851
Titolo
Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles
Settore scientifico disciplinare
ING-INF/04
Corso di studi
AUTOMATICA, ROBOTICA E BIOINGEGNERIA
Relatori
tutor Prof. Innocenti, Mario
Parole chiave
- formation control
- game theory
- nsbbc
- obstacle avoidance
- optimal control
Data inizio appello
15/07/2011
Consultabilità
Completa
Riassunto
The thesis provides a game theoretical approach to the control of a formation of unmanned vehicles. The objectives of the formation are to follow a prescribed trajectory, avoiding obstacle(s) while maintaining the geometry of the formation. Formation control is implemented using game theory while obstacles are avoided using Null Space Based Behavioral Control algorithm. Different obstacle avoidance scenarios are analyzed and compared. Numerical simulation results are presented, to validate the proposed approach.
File
| Nome file | Dimensione |
|---|---|
| Erdogan_...hesis.pdf | 4.59 Mb |
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