https://scholars.lib.ntu.edu.tw/handle/123456789/81357
標題: | 子計畫五-動態多代理器群組運動之路徑規劃(2/3) | 作者: | 王立昇 | 關鍵字: | dynamic agents;path-planning;real time tracking;control system;Friction of Rigid Body’s Planar Motion | 公開日期: | 31-七月-2005 | 出版社: | 臺北市:國立臺灣大學應用力學研究所 | 摘要: | The main theme of this project is to develop path-planning algorithms for the group motion of many dynamic agents (multi-agents) to achieve individual or common goals while possible collisions are avoided. The work of the second year is to design the path planning and control system for two agents. After nearly one-year endeavour, based upon previous achievements, we have completed the hardware design of two unmanned vehicle, and the associated integration of path planning system and control system. The data flow among subsystems is realized by using wireless network. In the development of the coordinated operation in jointly pushing an object, we derived the formula for the friction of rigid body’s planar motion, which makes it possible to control such motion more precisely. Preliminary experimental results show that the developed system can indeed achieve the goal of group motion control of two agents. It is anticipated that the system performance can be enhanced greatly in the next year of the project, and the target of multi-agent coordination and control can be attained through the collaboration with other sub-projects. |
URI: | http://ntur.lib.ntu.edu.tw//handle/246246/21748 | 其他識別: | 932213E002052 | Rights: | 國立臺灣大學應用力學研究所 |
顯示於: | 應用力學研究所 |
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932213E002052.pdf | 1.09 MB | Adobe PDF | 檢視/開啟 |
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