چكيده به لاتين
Abstract:
In this project, rescue and saving scenario which consists of cooperative tracking of a searcher (moving target) and finding the location of Injured and holding desired formation around injured, are discussed. Also, since some unknown moving path and behavior has been considered for the searcher, model predictive control has been utilized to obtain the exact position of the target. Considering physical limitations such collision avoidance of agents along the operation leads one to use optimal control methods. In these methods an optimization problem will be solved in order to determine the optimal path of the agents and holding desired formation. Direction of each agent, which is specified by agents and target’s position, has been conspired as input signal. Some advantages of the proposed algorithm are the ability of doing tracking operation and holding formation around target, simultaneously and collision avoidance of agents along the entire operation. Simulations demonstrate that the proposed algorithm can tackle the tracking and formation by considering the collision avoidance constraints, at the same time. Finally, the convergence of obtained algorithm has been proved.
Keywords: Cooperative system, Cooperative Control, Moving target tracking, Maintaining desired formation
