Pseudo-Rigid Formation Design For Multi-Agent Sytem
Date Issued
2009
Date
2009
Author(s)
Lin, Yu-Hsien
Abstract
The main purpose of this thesis is to design the motion of a multi-agent system which can change its formation. We apply the pseudo-rigid body theory to design the optimal formation, which can be controlled by a homogenous deformation gradient tensor. Such concept is called a Pseudo-Rigid Formation. The position of each agent can be determined by the position of geometric center and a homogenous deformation gradient tensor. In geometry, the configuration space is the product of the three dimensional real vector space and the general linear group , a twelve dimensional manifold. The design of the formation for a system with many agents moving in space can be then transformed into that of the twelve system variables. The objective function in the optimal design for collision avoidance and destination approaching can be represented by the system variables and the initial configuration f the system.The optimal formation of our system are allowed to translate, rotate, stretch, and shear. By the design examples, the proposed scheme is feasible and ffective.
Subjects
pseudo-rigid
formation
control
virtual structure
Type
thesis
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