پديد آورنده :
مكتبي فرد، علي
عنوان :
طراحي كنترل كننده براي حركت گروهي عامل هاي مرتبه اول جهت عدم برخورد به مانع
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
دوازده، 61ص.: مصور، جدول، نمودار
يادداشت :
ص.ع. به فارسي و انگليسي
استاد راهنما :
فريد شيخ الاسلام
استاد مشاور :
مجدالدين نجفي
توصيفگر ها :
سيستم هاي چند عامله , پرنده ي بدون سرنشين , اجماع , آرايش , رديابي مسير , عدم برخورد به مانع
استاد داور :
ايمان ايزدي، مرضيه كمالي
تاريخ ورود اطلاعات :
1396/07/10
رشته تحصيلي :
برق و كامپيوتر
دانشكده :
مهندسي برق و كامپيوتر
چكيده انگليسي :
Controller designing for group movement of first order agents to avoiding obstacle Ali Maktabifard a maktabifard@ec iut ac ir August 2017 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Prof Farid Sheikholeslam sheikh@cc iut ac ir Abstract In recent years within the development of modern technology multi agent systems have been noticed Applicationsof the multi agent systems can be used in variety of fields such as unmanned aerial vehicle UAV Regulatory and militaryapplications Air robotics and simulations of natural resources However these systems suffer from Consensus or collectiveagreement Consensus concerns processes by which a collection of interacting agents achieve a common goal The timeperiod that agents reach a consensus is substantial Another fascinating and advantageous issue in multi agent systems is theprocess of achieving a specific formation by the agents which can be time invariant or time varing process In some cases not only the agents should maintain their specific formation but also they should travel on a designated trajectory One ofthe most challenging issues in agents formation is that they achieve the consensus and maintain it while there are obstaclesin the ambient Applications of these scenarios are very practical in issues such as imaging or searching and monitoringambient In this research multi agent system is modeled by an Integrator first order system with linear dynamics andthe aforementioned Control law can guarantee that there will be no collisions between the obstacles and the agents in theambient Both time invariant and time varing formations are analyzed and an algorithm is proposed that makes the agentstrack the intended trajectory without any collision between the obstacles and the agents Simulation results show that theproposed method can achieve and maintain consensus by the agents in an ambient with obstacles Key Words 1 multi agent systems 2 unmanned aerial vehicle 3 consensus 4 formation 5 tra jectory tracking 6 obstacle avoidance
استاد راهنما :
فريد شيخ الاسلام
استاد مشاور :
مجدالدين نجفي
استاد داور :
ايمان ايزدي، مرضيه كمالي
