國立臺灣大學應用力學研究所王立昇2006-07-262018-06-292006-07-262018-06-292004-07-31http://ntur.lib.ntu.edu.tw//handle/246246/21719The 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.application/pdf1260999 bytesapplication/pdfzh-TW國立臺灣大學應用力學研究所dynamic agentspath-planningreal time trackingcontrol systemreporthttp://ntur.lib.ntu.edu.tw/bitstream/246246/21719/1/922213E002046.pdf