On the Cooperative Control and Obstacle Avoidance of MultiVehicle Systems
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Authors
Jafari, Mohammad
Issue Date
2015
Type
Thesis
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Abstract
Multi-agent control has attracted a lot of interests in recent years. A multi-agentsystem consists of a group of agents (for instance: robots, vehicles, etc.) cooperatingwith each other to do a task. The importance of multi-agent systems isshown specifically when a single agent can not easily solve a problem by itself.In this work, we consider an obstacle avoidance algorithm to apply to the formationcontrol of multiple rectangular agents with limited communication ranges.The proposed distributed control algorithm is designed by utilizing an artificialpotential function. The proposed control algorithm can guarantee fast formationperformance and no collision among agents. Also, the agents can perfectly avoidthe different shape and size obstacles. As a result, the rectangular agents can movetogether and quickly form a pre-defined shape of formation such as straight line,circle and lattice, etc., while avoiding the obstacles. Also, we evaluate a novel ideaof utilizing an Unmanned Aerial Vehicle (UAV) for adaptive flocking control of afleet of Unmanned Ground Vehicles (UGVs). We utilize a Quadrotor to providethe positions of all agents and also to manage the shrinking or expanding of theagents with respect to the environmental changes. The proposed method adaptivelycauses changing in the sensing range of the ground robots as the quadrotorattitude changes. Simulation results are presented to evaluate the performance ofthe proposed methods.
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In Copyright(All Rights Reserved)