Optimal Virtual Potential Functions in Pseudo-Rigid Formation Design
Date Issued
2011
Date
2011
Author(s)
Chen, Fang-Chieh
Abstract
The main purpose of this thesis is to develop a formation design method of a multi-vehicle system, which can produce collision-free paths and reach the destination by changing the formation of the system. We apply the pseudo-rigid body theory to the formation design. The formation can be determined by a homogenous deformation tensor, which permits rotation, stretch and shear. Comparing to rigid body formation, pseudo-rigid formation can adapt to environments of higher complexity. The total scheme is divided into two parts. The first part is path planning, in which are used Rapidly-exploring Random Tree (RRT) method along with some path-smoothing algorithms design to find a proper path for the system center. The second part is pseudo-rigid formation, in which the minimum of a virtual potential function is found to obtain the deformation tensor. Here, the function parameters of the virtual potential are adjusted according to the needs, and the optimal deformation tensor is computed. Finally, the path planning and the pseudo-rigid formation design are integrated to yield an overall scheme. In most design method of using potential functions, the function is fixed. Instead, here the optimal design of the potential function is taken into consideration. Such that the overall design become more desirable. According to the design examples, our approach can be used in a variety of environments, which shows that, the proposed scheme is feasible and effective.
Subjects
Pseudo-Rigid Body
Formation
Multi-Vehicle
Path Planning
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-100-R98543083-1.pdf
Size
23.54 KB
Format
Adobe PDF
Checksum
(MD5):eed9204b9e865ba4495cc154d4e37a8b