ETD

Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-04072011-221851

Tipo di tesi

Tesi di dottorato di ricerca

URN

etd-04072011-221851

Titolo

Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles

Settore scientifico disciplinare

ING-INF/04 - AUTOMATICA

Corso di studi

AUTOMATICA, ROBOTICA E BIOINGEGNERIA

Parole chiave

formation control
game theory
nsbbc
obstacle avoidance
optimal control

Data inizio appello

15/07/2011

Consultabilità

Completa

Riassunto (Inglese)

Riassunto (Italiano)

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.

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Erdogan_...hesis.pdf	4.59 Mb
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