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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 王立昇 | |
| dc.contributor.author | Yu-Hsien Lin | en |
| dc.contributor.author | 林育賢 | zh_TW |
| dc.date.accessioned | 2021-06-15T01:15:44Z | - |
| dc.date.available | 2009-08-03 | |
| dc.date.copyright | 2009-08-03 | |
| dc.date.issued | 2009 | |
| dc.date.submitted | 2009-07-28 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/42537 | - |
| dc.description.abstract | 本論文主要為發展一可改變隊形之多載具運動模式，將擬剛體形變的理論應用在最佳化的隊形設計上，整個系統的隊形變化由一齊性形變張量所規範，稱之為擬剛體隊形，每一個載具的位置可透過隊形幾何中心的位置及齊性形變張量求得。從幾何的觀點來看，擬剛體運動之系統可用 來描述，係一維度為12的空間，設計一個隊形在空間中移動的問題可以簡化為求解12個系統變數。避開障礙物及到達目標的最佳化設計成本函數可以由系統變量及隊形的初始狀態來表示，所獲得的最佳化隊形可以容許發生旋轉、拉伸及剪應變等變形。根據實例設計結果驗證我們的研究是可行且有效的。 | zh_TW |
| dc.description.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
of 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 effective. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T01:15:44Z (GMT). No. of bitstreams: 1 ntu-98-R96543013-1.pdf: 1565866 bytes, checksum: 6a75f92dbe05a44010a07cf45e0d1e93 (MD5) Previous issue date: 2009 | en |
| dc.description.tableofcontents | 致謝................................................................i
中文摘要...........................................................ii 英文摘要..........................................................iii 目錄...............................................................iv 圖目錄..............................................................v 第一章 緒論.........................................................1 1.1 研究動機.................................................1 1.2 文獻回顧.................................................2 1.3 內容簡介.................................................3 1.4 論文架構.................................................3 第二章 擬剛體隊形...................................................4 2.1 擬剛體的特性.............................................4 2.2 二維擬剛體隊形表示法.....................................8 2.3 三維擬剛體隊形表示法....................................10 2.4 避障之成本函數設計......................................12 第三章 路徑規劃....................................................15 第四章 最佳化隊形設計..............................................23 4.1 二維最佳化隊形設計......................................23 4.2 二維最佳化隊形設計範例..................................29 4.3 三維最佳化隊形設計......................................33 4.2 三維最佳化隊形設計範例..................................35 第五章 結論及未來工作..............................................38 附錄...............................................................39 參考文獻...........................................................40 | |
| dc.language.iso | zh-TW | |
| dc.subject | 控制 | zh_TW |
| dc.subject | 擬剛體 | zh_TW |
| dc.subject | 隊形 | zh_TW |
| dc.subject | 虛結構 | zh_TW |
| dc.subject | formation | en |
| dc.subject | pseudo-rigid | en |
| dc.subject | virtual structure | en |
| dc.subject | control | en |
| dc.title | 多載具擬剛體隊形之設計 | zh_TW |
| dc.title | Pseudo-Rigid Formation Design For Multi-Agent Sytem | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 97-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.coadvisor | 張帆人 | |
| dc.contributor.oralexamcommittee | 王伯群,鄭張權,連豊力 | |
| dc.subject.keyword | 擬剛體,隊形,控制,虛結構, | zh_TW |
| dc.subject.keyword | pseudo-rigid,formation,control,virtual structure, | en |
| dc.relation.page | 43 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2009-07-28 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 應用力學研究所 | zh_TW |
| 顯示於系所單位： | 應用力學研究所 | |
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