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Receding Horizon Control for Dynamic Cooperative Target Tracking

Moradi Pari, Ehsan | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42937 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Haeri, Mohammad
  7. Abstract:
  8. A group of vehicles are contributed to follow static or dynamic targets in a cooperative target tracking problem. The vehicles estimate the future location of dynamic targets based on the information they receive from other vehicles and targets. Noting to these estimations, the vehicles are able to decide the best movement toward the targets. Various control methods have been presented to solve different problems of target tracking which the majority of them proposed optimal control solutions. A new approach to the problem of tracking dynamic targets via cooperative multi-vehicle systems under the receding horizon control of the vehicles is proposed in this dissertation. A receding horizon controller is formulated to obtain the best headings for vehicles to track targets and accumulate the remained reward. The headings are considered to be the input signals of the vehicles. This strategy tempts the vehicles to gather maximum reward associated to the dynamic targets in order to reach them. Proofs that guarantee the convergence of the proposed algorithm and admit the stability of trajectory generated by optimizing an introduced cost function are provided. Notable advantages of the proposed algorithm are path planning based on the estimation of future position of target and ability to track new targets that are identified while the vehicles are tracking the existing ones
  9. Keywords:
  10. Predictive Control ; Cooperative System ; Cooperative Control ; Dynamic Target Tracking

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