國立臺灣大學應用力學研究所王立昇2006-07-262018-06-292006-07-262018-06-292005-07-31http://ntur.lib.ntu.edu.tw//handle/246246/21748The 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.application/pdf1112155 bytesapplication/pdfzh-TW國立臺灣大學應用力學研究所dynamic agentspath-planningreal time trackingcontrol systemFriction of Rigid Body’s Planar Motionreporthttp://ntur.lib.ntu.edu.tw/bitstream/246246/21748/1/932213E002052.pdf