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Συνεχές διαφορικό ανταγωνιστικό παίγνιο μεταξύ ενός εναέριου και ενός επίγειου οχήματος με χρήση προβλεπτικού ελεγκτή

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dc.contributor.author Τζαννέτος, Παναγιώτης - Γεώργιος el
dc.contributor.author Tzannetos, Panagiotis - Georgios en
dc.date.accessioned 2016-06-24T06:03:07Z
dc.date.available 2016-06-24T06:03:07Z
dc.date.issued 2016-06-24
dc.identifier.uri http://dspace.lib.ntua.gr/handle/123456789/42827
dc.rights Αναφορά Δημιουργού-Μη Εμπορική Χρήση 3.0 Ελλάδα *
dc.rights.uri http://creativecommons.org/licenses/by-nc/3.0/gr/ *
dc.subject Μη επανδρωμένα οχήματα el
dc.subject Θεωρία παιγνίων el
dc.subject Προβλεπτικός έλεγχος el
dc.subject Έλεγχος με οπτική ανατροφοδότηση el
dc.subject Αναγνώριση συστήματος el
dc.title Συνεχές διαφορικό ανταγωνιστικό παίγνιο μεταξύ ενός εναέριου και ενός επίγειου οχήματος με χρήση προβλεπτικού ελεγκτή el
heal.type bachelorThesis
heal.secondaryTitle Continuous Differential Competitive Game between an Unmanned Aerial and a Ground Vehicle Using Model Predictive Control en
heal.classification Ρομποτική el
heal.language el
heal.access free
heal.recordProvider ntua el
heal.publicationDate 2016-02-15
heal.abstract In this diploma thesis an imperfect information competitive differential and continuous game between an unmanned aerial and an unmanned ground vehicle is studied theoretically and experimentally. Each player acts independently trying to satisfy its own objective function. Specifically the UAV is trying to reduce the relative distance and orientation in order to capture the mobile robot, while the other is trying to increase it in order to avoid the capture. In order this to be achieved every robot should have good knowledge(estimation) of its variable states, namely its position, velocity and orientation through sensor fusion. Also, through visual servoing with an onboard camera on the moving UAV, the relative position between the robots becomes known. Therefore the purpose of this work is to design the independent inputs of the two players based on the above in order to conduct a study of the game in real robotic platforms. For this cause a non-linear model predictive control with fix horizon is designed to calculate in real time the optimal trajectory of each player, taking into account the model dynamics. The robotic platforms that were used for the experimental study are the UAV hexacopter Asctec Fire y and the mobile robot Pioneer 2. Testing different scenarios in theoretic simulations various conclusions are made for the strategy that each agent should follow in a game of two "rational" players where one player is fast and the other is slower but more maneuverable. Finally through the experiment we show the capabilities of the unmanned aerial vehicles to follow trajectories and objects that are unpredictable and the knowledge of the upcoming movement is limited, and not exclusively for competitive games. en
heal.advisorName Κυριακόπουλος, Κωνσταντίνος el
heal.committeeMemberName Παπαδόπουλος, Ευάγγελος el
heal.committeeMemberName Αντωνιάδης, Ιωάννης el
heal.academicPublisher Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου. Εργαστήριο Αυτομάτου Ελέγχου και Ρυθμίσεως Μηχανών και Εγκαταστάσεων el
heal.academicPublisherID ntua
heal.numberOfPages 83 σ. el
heal.fullTextAvailability true


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Αναφορά Δημιουργού-Μη Εμπορική Χρήση 3.0 Ελλάδα Except where otherwise noted, this item's license is described as Αναφορά Δημιουργού-Μη Εμπορική Χρήση 3.0 Ελλάδα