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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/81794完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成(Li-Chen Fu) | |
| dc.contributor.author | Chih-Wei Chen | en |
| dc.contributor.author | 陳至瑋 | zh_TW |
| dc.date.accessioned | 2022-11-25T03:03:45Z | - |
| dc.date.available | 2024-09-01 | |
| dc.date.copyright | 2021-11-06 | |
| dc.date.issued | 2021 | |
| dc.date.submitted | 2021-08-19 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/81794 | - |
| dc.description.abstract | 本論文旨在研究多代理人系統(MAS)的三維編隊調控，這些代理人以分散式之通訊方式，透過特定的通信連結進行控制，我們的控制器設計主要針對微型無人機（UAV），因此對於代理人之動態模型採用了二階積分器系統。近年來因無人機之性能提升與價格下降，使得其應用廣泛，如資料探勘、地圖建設及搜救任務等，而相關控制研究也備受關注。本論文的控制目標是實現編排幾何隊形與追蹤參考軌跡，同時確保在任何時刻無人機能避免碰撞。目前關於編隊控制文獻中，處理大量機群仍多以考慮全域通訊關係為主，在避碰演算法上，大多以兩兩互相避碰為主要策略，因此當運用於真實的多無人機群中會遇到相當大的障礙。在本研究中，我們所考慮之多無人機系統在編隊過程中只使用来自其鄰域且有通訊關係之無人機資訊，並在追蹤參考軌跡時會保持通訊連接以維持整體系統之通訊關係。而控制器之避碰演算法是基於鄰域機間的相對距離、相對速度與系統內的優先權，來達成避碰，可有效降低機載電腦之計算負擔，與解決死結(deadlock)問題。此外，透過我們所提出的隊形描述方法與適應性控制架構，本論文之控制器亦能使無人機群以給定之順序關係排成所需要之隊形。最後，我們提供一些模擬場景與結果以驗證理論推導。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-25T03:03:45Z (GMT). No. of bitstreams: 1 U0001-1608202114472600.pdf: 4815727 bytes, checksum: 018dbf8b657bc6ad7ef095e69a3ba33e (MD5) Previous issue date: 2021 | en |
| dc.description.tableofcontents | 口試委員會審定書 i 誌謝 ii 摘要 iii Abstract iv Contents vi List of Figures viii Chapter 1 Introduction 1 1.1 Motivation. . . . . . 1 1.2 Literature Review . . . . . . . . . . . . . . . . . 3 1.3 Contribution. . . . . . . . . . . . . . . . . . . . . . . 6 1.4 Thesis Organization. . . . . . . . . . . . . . . . . . . . . . 8 Chapter 2 Preliminaries 9 2.1 Related Notations in Algebraic Graph Theory. . . . . . 9 2.2 The Consensus Algorithm. . . . . . . . . . . . . . . . . . 11 2.3 The Switching Communication. . . . . . . . . . . . . . . . . . . . 12 2.4 Lyapunov Stability with Switching Communication. . . . . . . . . . 13 Chapter 3 Maneuver Control System in 3D Space 14 3.1 Descriptions of the Desired Geometric Pattern in 3D Space. . . . . . 14 3.2 Problem Formulation for Maneuver Control. . . . . . . . . . . . . . 16 3.3 Maneuver Controller Design and Stability Analysis. . . . . . . . . . 18 3.3.1 Estimation Law for Desired Geometric Pattern Vectorh∗k. . . . . . 19 3.3.2 Estimation of desired position error and Consensus Algorithm. . . 21 3.3.3 Maneuver Controller Design. . . . . . . . . . . . . . . . . . . . . 23 3.3.4 Maneuver Algorithm with Extensions to Switching Communications 25 3.4 Discussion on Existing Works. . . . . . . . . . . . . . . . . . . . . 29 Chapter 4 Collision Avoidance 30 4.1 Problem Formulation for Collision Avoidance. . . . . . . . . . . . . 30 4.2 Algorithm Design for Collision Avoidance. . . . . . . . . . . . . . 32 4.2.1 Collision Avoidance Algorithm with Priority. . . . . . . . . . . . 33 4.2.2 Maneuver Controller with Collision Avoidance Design. . . . . . . 38 4.3 Discussion on Existing Works. . . . . . . . . . . . . . . . . . . . . 40 Chapter 5 Simulation Results 42 5.1 Results of Formation and Maneuver Control. . . . . . . . . . . . . . 42 5.2 Results of Maneuver Control with Collision Avoidance. . . . . . . . 50 5.3 Software In The Loop Simulation. . . . . . . . . . . . . . . . . . . 61 Chapter 6 Conclusion 65 References 66 | |
| dc.language.iso | en | |
| dc.subject | 多代理人系統 | zh_TW |
| dc.subject | 無人機 | zh_TW |
| dc.subject | 編隊控制 | zh_TW |
| dc.subject | 避免碰撞 | zh_TW |
| dc.subject | multi-agent system | en |
| dc.subject | unmanned aerial vehicle | en |
| dc.subject | maneuver control | en |
| dc.subject | collision avoidance | en |
| dc.title | 二階多無人機系統於三維空間中之分散式編隊避碰控制 | zh_TW |
| dc.title | Distributed Maneuver Control with Collision Avoidance for Second-Order Multiple UAV System in Three-Dimensional Space | en |
| dc.date.schoolyear | 109-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 江明理(Hsin-Tsai Liu),詹景裕(Chih-Yang Tseng),李蔡彥,劉吉軒 | |
| dc.subject.keyword | 編隊控制,避免碰撞,多代理人系統,無人機, | zh_TW |
| dc.subject.keyword | maneuver control,collision avoidance,multi-agent system,unmanned aerial vehicle, | en |
| dc.relation.page | 73 | |
| dc.identifier.doi | 10.6342/NTU202102396 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2021-08-19 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| dc.date.embargo-lift | 2024-09-01 | - |
| 顯示於系所單位： | 電機工程學系 | |
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| U0001-1608202114472600.pdf | 4.7 MB | Adobe PDF | 檢視/開啟 |
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