Date of Award:
8-2020
Document Type:
Thesis
Degree Name:
Master of Science (MS)
Department:
Electrical and Computer Engineering
Committee Chair(s)
Greg Droge
Committee
Greg Droge
Committee
Randy Christensen
Committee
Jonathan Phillips
Abstract
This thesis presents a control framework for formation control. Given an initial desired trajectory, a framework is presented to generate trajectories for each vehicle within the formation. When combined with an operational envelope, a designated area for each vehicle to maneuver, for each vehicle the multi-vehicle formation control problem can be redefined into a single vehicle problem. A single vehicle framework is presented to track the respective trajectory when possible, or stay near it when it passes through previously unknown obstacles. Arc-based motions are used to rapidly produce desirable robot controls while a trajectory tracking motion is used to ensure that the vehicle tracks the trajectory when it is obstacle free. The resulting formation control framework is illustrated through a real-time simulation with trajectories passing through obstacles. The simulated robot is able to seamlessly balance tracking with obstacle avoidance.
Checksum
4e16a4bac97fc65235a55c83adcc73d8
Recommended Citation
Merrell, Brian, "Formation Control Using Vehicle Operational Envelopes and Behavior-Based Dual-Mode Model Predictive Control" (2020). All Graduate Theses and Dissertations, Spring 1920 to Summer 2023. 7832.
https://digitalcommons.usu.edu/etd/7832
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