Cooperative optimal path planning with functional surface based on finite element method /
This thesis presents results from research on cooperative multi-agent robots localization and entire path planning using a weighting function approach to modeling of irregular surfaces based on the finite element method. A localization procedure that enables finding their current real positions on t...
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| Format: | Thesis eBook |
| Language: | English |
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[Place of publication not identified] :
[publisher not identified] ;
2002.
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| Summary: | This thesis presents results from research on cooperative multi-agent robots localization and entire path planning using a weighting function approach to modeling of irregular surfaces based on the finite element method. A localization procedure that enables finding their current real positions on the map is presented. This should be achieved to navigate toward the desired target position. The method is based on a template matching and correlation procedure using a memory allocation to overcome the limited memory space. It is also demonstrated to decide what number of multi-agent robots is most efficient. To create functional surfaces using the given elevation data, a weighting function approach to modeling of irregular surfaces is presented. This approach makes it possible to obtain the optimal paths within these locally valid functional surfaces. The optimal paths of five cooperative multi-agent robots are obtained by using the functional surfaces based on the finite element method. Generating the valid surface function sequentially is key to achieving the cooperative optimal path planning and guidance by using a cooperating team of agents. Furthermore, a method for updating the optimal paths to compensate undesired accumulated errors is also presented. |
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| Item Description: | Vita. "Major subject: Aerospace Engineering". |
| Physical Description: | xiii, 72 leaves : illustrations, maps ; 28 cm. Also available online. Issued also on microfiche from Lange Micrographics. |
| Bibliography: | Includes bibliographical references (leaves 70-71). |