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ETD

Digital archive of theses discussed at the University of Pisa

 

Thesis etd-04072011-221851


Thesis type
Tesi di dottorato di ricerca
Author
ERDOGAN, MEHMET EREN
URN
etd-04072011-221851
Thesis title
Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles
Academic discipline
ING-INF/04
Course of study
AUTOMATICA, ROBOTICA E BIOINGEGNERIA
Supervisors
tutor Prof. Innocenti, Mario
Keywords
  • formation control
  • game theory
  • nsbbc
  • obstacle avoidance
  • optimal control
Graduation session start date
15/07/2011
Availability
Full
Summary
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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