子計畫五-動態多代理器群組運動之路徑規劃(2/3)
Date Issued
2005-07-31
Date
2005-07-31
Author(s)
DOI
932213E002052
Abstract
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.
Subjects
dynamic agents
path-planning
real time tracking
control system
Friction of
Rigid Body’s Planar Motion
Rigid Body’s Planar Motion
Publisher
臺北市：國立臺灣大學應用力學研究所
Type
report
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