Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Distributed event-triggered control for collective target localization and circumnavigation
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis is concerned with accomplishing a localization and circumnavigationmission with a network of autonomous mobile agents. An estimatealgorithm and a decentralized control law are designed, such that every agentestimates the position of a target, and the mobile agents eventually exhibitpersistent rotations about the target at a desired distance, while forming aregular polygon around it. Both the estimator and the controller are based onevent-triggered measurements of the bearing vector (i.e., the unit norm vectorpointing from the agent towards the target location), and event-triggered communicationwithin a communication radius. The convergence proprieties of theproposed algorithm are proven formally for different scenarios, such as stationaryor slowly drifting target with one or more agents. The designed algorithmsare tested through simulations in ROS and experiments using CrazyFlie 2.0nano-quadrotors.

Abstract [sv]

Denna avhandling handlar om att åstadkomma ett lokaliserings- och omflyttningsuppdragmed ett nätverk av autonoma mobila agenter. En uppskattningsalgoritmoch en decentraliserad kontrolllag utformas så att varje agentuppskattar positionen av ett mål och de mobila agenterna uppvisar slutligenkvarhållna rotationer kring målet på ett önskat avstånd medan de bildar enregelbunden polygon runt målet. Både estimatorn och styrenheten är baseradepå händelseutlösade mätningar av lagervektorn (dvs enhetens normvektorsom pekar från agenten mot målplatsen) och händelseutlösad kommunikationinom en kommunikationsradie. Konvergensegenskaperna hos den föreslagna algoritmenbevisas formellt för olika scenarier, såsom stationärt eller långsamtdrivande mål med en eller flera agenter. De designade algoritmerna testas genomsimuleringar i ROS och experiment med Crazyflie 2.0 nano-drönare.

Place, publisher, year, edition, pages
2017. , p. 77
Series
TRITA-EE, ISSN 1653-5146 ; 2017:174
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-221796OAI: oai:DiVA.org:kth-221796DiVA, id: diva2:1177456
Available from: 2018-01-25 Created: 2018-01-25 Last updated: 2018-01-25Bibliographically approved

Open Access in DiVA

fulltext(7277 kB)65 downloads
File information
File name FULLTEXT01.pdfFile size 7277 kBChecksum SHA-512
4fcabf9f6c4539d5042641e4a5fe0418715e3683aef560e0f83d4269a5b6dfec3b0dffd1f3ad4847653226fc4e43cb7cf595b6527edc74a6f391fa24bcf1ee4a
Type fulltextMimetype application/pdf

By organisation
Automatic Control
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 65 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 116 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf