14753

13279

كارشناسي ارشد

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1398

يازده، 71ص. : مصور، جدول، نمودار

جواد عسكري، محسن مجيري

فريد شيخ‌الاسلام، مجدالدين نجفي

1398/04/24

كتابنامه

مهندسي برق

مهندسي برق و كامپيوتر

1398/04/24

2547878

Formation Control of Holonomic Agents over an Unknown Source Ehsan Fattahi e fattahi@ec iut ac ir June 2019 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Assoc Prof Javad Askari j askari@cc iut ac ir Assoc Prof Mohsen Mojiri mohsen mojiri@cc iut ac ir Abstract Formation control of unmanned vehicles is an active field of research Control of autonomousrobots without a navigator has drawn significant attention due to lack of access to information aboutglobal positioning system in situations such as underwater or under other fluids Under these situ ations finding a way to lead the agents towards the desired formation can be helpful Therefore asignal generating source or agent is considered as the leader and the rest of the agents as followers In the leader follower setting the agents receive the signal from the virtual leader source and formthe desired formation Using this the agents measure and control their displacement from the leader Formation control has multiple aspects in engineering This work is not only form the formation Byforming the formation following the leader while maintenance the formation and not colliding theobstacles in the path becomes crucial When the number of the agents exceeds one the collision of theagents seems inevitable In this condition navigation function can prevent the collision of the agentswith obstacles and with each other Although there exist several methods for formation control itis necessary to localize the leader signal generating source in the leader follower structure Thus the leader localization is navigated with extremum seeking control The agents measure the signalgenerated by the leader and since the intensity of this signal is maximum in the position of the leader extremum seeking control leads them to this position Now leader localization by the agents and us ing biased extremum seeking control the displacement of each agent from the source is controlled Therefore using this approach we can control and form the polygonal formation of holonomic agentsover an unknown source Key Words Formation Control Extremum Seeking Control Leader Localization Obstacles Avoid ance

جواد عسكري، محسن مجيري

فريد شيخ‌الاسلام، مجدالدين نجفي