子計畫五-動態多代理器群組運動之路徑規劃(1/3)
Date Issued
2004-07-31
Date
2004-07-31
Author(s)
DOI
922213E002046
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 and to avoid possible collisions. The work of the first year is to
design the path planning system for a single agent. After nearly one-year
endeavour, based on previous achievements, we have completed the hardware
design of an unmanned vehicle, and the associated integration of path planning
system and control system. The control system can track not only static target but
also moving target. For the latter, the path planning system is invoked to find the
optimal path according to new environment and scenario, and the controller is
adjusted to suit the current need. Experimental results show that the developed
system can indeed achieve the desired capability. Namely, the unmanned vehicle
can track the moving object through an optimal path in real time, without entering
the forbidden area.
Subjects
dynamic agents
path-planning
real time tracking
control system
Publisher
臺北市：國立臺灣大學應用力學研究所
Type
report
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