本文爲加拿大多倫多大學（作者：George Tin Lam Lau）的碩士論文，共99頁。
本文提出了一種無人駕駛邊境巡邏車的在線路徑規劃算法。在這個追逃遊戲中，無人駕駛汽車必須在多個入侵者到達他們安全的目標安全屋之前逮捕他們。問題的公式化是基於Isaacs的目標防禦問題，但擴展到多個逃跑者的情況。所提出的路徑規劃方法是基於快速探索隨機樹（RRT）的，能夠在數秒內產生軌跡，捕獲2或3個逃逸者。仿真結果表明，所得到的軌跡接近基於非線性規劃的數值最優控制解所產生的最優解。在無人地面車輛上進行了實驗，驗證了所提出的在線路徑規劃算法在實際應用中的可行性。
This thesis presents an online pathplanning algorithm developed for unmanned vehicles in charge of autonomousborder patrol. In this Pursuit-Evasion game, the unmanned vehicle is requiredto capture multiple trespassers on its own before any of them reach a targetsafe house where they are safe from capture. The problem formulation is basedon Isaacs’ Target Guarding problem, but extended to the case of multipleevaders. The proposed path planning method is based on Rapidly-exploring randomtrees (RRT) and is capable of producing trajectories within several seconds tocapture 2 or 3 evaders. Simulations are carried out to demonstrate that theresulting trajectories approach the optimal solution produced by a nonlinearprogramming-based numerical optimal control solver. Experiments are alsoconducted on unmanned ground vehicles to show the feasibility of implementingthe proposed online path planning algorithm on physical applications.
- 引言
- 文獻回顧
- 問題建模
- 算法
- 仿真
- 實驗
- 結論
附錄A SPSE目標邊界
附錄B C++ SP2E算法
附錄C 用於速度預測的卡爾曼濾波
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