ETD

Digital archive of theses discussed at the University of Pisa

Thesis etd-04072011-221851

Thesis type

Tesi di dottorato di ricerca

URN

etd-04072011-221851

Thesis title

Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles

Academic discipline

ING-INF/04 - AUTOMATICA

Course of study

AUTOMATICA, ROBOTICA E BIOINGEGNERIA

Keywords

formation control
game theory
nsbbc
obstacle avoidance
optimal control

Graduation session start date

15/07/2011

Availability

Full

Abstract (Inglese)

Abstract (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.

File

Nome file	Dimensione
Erdogan_...hesis.pdf	4.59 Mb
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