多載具編隊及協同控制之設計與實驗

Abstract

本論文利用多代理器(Multi-agent)的概念結合協同控制理論提出一個即時的室內無人載具編隊控制演算法。利用建置虛擬參考點以及虛擬座標系使載具間能夠維持固定的相對距離，並隨著路徑變化調整隊形姿態。 另外我們利用B-樣條曲線(B-spline curve)設計真實世界中載具的可能行走路徑，並使用HSV色彩分佈統計直方圖產生過濾器，使室內攝相機能夠即時偵測不同載具的位置及姿態以回傳主控站。 模擬和實驗結果顯示，此演算法能夠順利完成載具的編隊控制，並穩定的達成B-樣條曲線的路徑追蹤任務。

This thesis proposes a real-time formation and control algorithm for a team of indoor unmanned vehicles based on the concept of multi-agent and cooperative control theory. A virtual reference point and the associated virtual coordinate system are used to maintain the fixed relative positions between the vehicles, while keeping the formation as the path changes. In addition, we use the B-spline curve to design the possible path of the vehicle in the real world, and the HSV color distribution statistical histogram to generate the filter, so that the indoor camera can instantly detect the position of different vehicles in the team and send the information to the main control station. Simulation and experimental results show that this algorithm can successfully maintain the formation of the team and fulfill the path tracking of the B-spline curve designed from a path-planning algorithm