ETD system

Electronic theses and dissertations repository

 

Tesi etd-04072011-221851


Thesis type
Tesi di dottorato di ricerca
Author
ERDOGAN, MEHMET EREN
URN
etd-04072011-221851
Title
Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles
Settore scientifico disciplinare
ING-INF/04
Corso di studi
AUTOMATICA, ROBOTICA E BIOINGEGNERIA
Commissione
tutor Prof. Innocenti, Mario
Parole chiave
  • obstacle avoidance
  • nsbbc
  • formation control
  • game theory
  • optimal control
Data inizio appello
15/07/2011;
Consultabilità
completa
Riassunto analitico
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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