Upravljanje formacijom pokretnih agenata temeljeno na konsenzus algoritmu

undergraduate thesis

• Title (english): Consensus based multi-agent formation control
• Author: Marijana Peti
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Committee member: Barbara Arbanas (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovome radu je implementirano upravljanje formacijom multiagentskog sustava mobilnih robota zasnovano na konsenzus algoritmu u simulacijskom okruženju. Korišten je konsenzus drugog reda ili dvostrukog integratora i razmotreno je nekoliko metoda upravljanja formacijom: vod¯a-sljedbenik, virtualan vod¯a/virtualna struktura i bihevioralna metoda. Za izbjegavanje kolizija med¯u agentima korišten je gradijent funkcije potencijala prepreke. Odabrana bihevioralna metoda je potvrd¯ena u Matlab simulacijskom okruženju na sustavu od pet modela Parrot ArDrone letjelica.

Abstract (english)

In this work, consensus based multi-agent formation control is implemented. Second order or double-integrator consensus algorithm is used and several formation methods are considered: leader-follower, virtual leader/ virtual structure, behavioral method. Gradient of potential function is used to generate repulsive force for collision avoidance. Proposed behavioral method has been simulated and confirmed in Matlab on five Parrot ArDrone unmanned aerial vehicles.

• Keywords: konsenzus; formacija; upravljanje
• Keywords (english): consensus; formation; control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:111180
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 23:53:35