Control of Car-Like Multi Robots for Following and Hunting of Moving Target, M.Sc. Thesis Sharif University of Technology ; Sayyaadi, Hassan (Supervisor) ; Salarieh, Hassan (Co-Advisor)
Abstract
The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group...
Cataloging briefControl of Car-Like Multi Robots for Following and Hunting of Moving Target, M.Sc. Thesis Sharif University of Technology ; Sayyaadi, Hassan (Supervisor) ; Salarieh, Hassan (Co-Advisor)
Abstract
The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group...
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