Coordinated Control and Experiments of Two Unmanned Vehicles
Date Issued
2005
Date
2005
Author(s)
Wu, Hsuan-Yi
DOI
zh-TW
Abstract
The main theme of this thesis is to design a coordinated control system for two unmanned vehicles. The unmanned vehicles are constructed step by step and the data exchange mechanism between sub-systems is set up through wireless network. The task of pushing an oblong-shaped object with two unmanned vehicles is then performed such that the object can move along a reference path specified in advance.
In the path tracking control problem, we use the fuzzy control theory and introduce the concept of line-of-sight angle. For the coordinated control, fuzzy control theory is also used after introducing the concept of adjust line. The speed of each vehicle will be adjusted appropriately and the two vehicles can move parallelly when pushing the object. From the experimental results, the proposed methodology indeed can control the vehicle to track a path, and the two vehicles such that the object can be pushed along the reference path by appropriately modulating the speeds of vehicles.
Subjects
無人載具
路徑追蹤
協同控制
unmanned vehicles
path tracking
coordinated control
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-94-R92543004-1.pdf
Size
23.53 KB
Format
Adobe PDF
Checksum
(MD5):16e60093c62b943ebe230c327fefcfdc