Thesis (PhD)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: This research focuses on the development of new efficient algorithms for multi-path planning
and multi-rigid body constrained attitude control. The work is motivated by current
and future applications of these algorithms in: intelligent control of multiple autonomous
aircraft and spacecraft systems; control of multiple mobile and industrial robot systems;
control of intelligent highway vehicles and traffic; and air and sea traffic control.
We shall collectively refer to the class of mobile autonomous systems as “agents”. One
of the challenges in developing and applying such algorithms is that of complexity resulting
from the nontrivial agent dynamics as agents interact with other agents, and their environment.
In this work, some of the current approaches are studied with the intent of exposing
the complexity issues associated them, and new algorithms with reduced computational
complexity are developed, which can cope with interaction constraints and yet maintain
stability and efficiency.
To this end, this thesis contributes the following new developments to the field of multipath
planning and multi-body constrained attitude control:
• The introduction of a new LMI-based approach to collision avoidance in 2D and 3D
spaces.
• The introduction of a consensus theory of quaternions by applying quaternions directly
with the consensus protocol for the first time.
• A consensus and optimization based path planning algorithm for multiple autonomous
vehicle systems navigating in 2D and 3D spaces.
• A proof of the consensus protocol as a dynamic system with a stochastic plant matrix.
• A consensus and optimization based algorithm for constrained attitude synchronization
of multiple rigid bodies.
• A consensus and optimization based algorithm for collective motion on a sphere. / AFRIKAANSE OPSOMMING: Hierdie navorsing fokus op die ontwikkeling van nuwe koste-effektiewe algoritmes, vir
multipad-beplanning en veelvuldige starre-liggaam beperkte standbeheer. Die werk is gemotiveer
deur huidige en toekomstige toepassing van hierdie algoritmes in: intelligente beheer
van veelvuldige outonome vliegtuig- en ruimtevaartuigstelsels; beheer van veelvuldige mobiele
en industrile robotstelsels; beheer van intelligente hoofwegvoertuie en verkeer; en in
lug- en see-verkeersbeheer.
Ons sal hier “agente” gebruik om gesamentlik te verwys na die klas van mobiele outonome
stelsels. Een van die uitdagings in die ontwikkeling en toepassing van sulke algoritmes
is die kompleksiteit wat spruit uit die nie-triviale agentdinamika as gevolg van
die interaksie tussen agente onderling, en tussen agente en hul omgewing. In hierdie werk
word sommige huidige benaderings bestudeer met die doel om die kompleksiteitskwessies
wat met hulle geassosieer word, bloot te l^e. Verder word nuwe algoritmes met verminderde
berekeningskompleksiteit ontwikkel. Hierdie algoritmes kan interaksie-beperkings hanteer,
en tog stabiliteit en doeltreffendheid behou.
Vir hierdie doel dra die proefskrif die volgende nuwe ontwikkelings by tot die gebied
van multipad-beplanning van multi-liggaam beperkte standbeheer:
• Die voorstel van ’n nuwe LMI-gebasseerde benadering tot botsingsvermyding in 2D
en 3D ruimtes.
• Die voorstel van ’n konsensus-teorie van “quaternions” deur “quaternions” vir die
eerste keer met die konsensusprotokol toe te pas.
• ’n Konsensus- en optimeringsgebaseerde padbeplanningsalgoritme vir veelvoudige
outonome voertuigstelsels wat in 2D en 3D ruimtes navigeer.
• Die bewys van ’n konsensusprotokol as ’n dinamiese stelsel met ’n stochastiese aanlegmatriks.
• ’n Konsensus- en optimeringsgebaseerde algoritme vir beperkte stand sinchronisasie
van veelvoudige starre liggame. • ’n Konsensus- en optimeringsgebaseerde algoritme vir kollektiewe beweging op ’n sfeer.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/71905 |
| Date | 12 1900 |
| Creators | Okoloko, Innocent |
| Contributors | Basson, A. H., Kim, Y., Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. |
| Publisher | Stellenbosch : Stellenbosch University |
| Source Sets | South African National ETD Portal |
| Language | en_ZA |
| Detected Language | Unknown |
| Type | Thesis |
| Format | 169 p. : ill. |
| Rights | Stellenbosch University |
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