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

Τζαννέτος, Παναγιώτης - Γεώργιος; Tzannetos, Panagiotis - Georgios

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	https://dspace.lib.ntua.gr/xmlui/handle/123456789/42827
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.11619
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