Thesis Details

Řízení formace vozidel

Bachelor's Thesis Student: Revický Peter Academic Year: 2015/2016 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Controlling of Vehicles Formation
Language
Czech
Abstract

The goal of this thesis is to create system for formation management of wheeled vehicles with kinematic constraints. The work presents the way to control vehicle and how to manage formation in presence of obstacles. Algorithms used for vehicle control are based on potential fields. Whole system is implemented in Unity game engine in 2D enviroment. The system is then tested on various scenarios such as passing through narrow passage, obstacle partially blocking formation, dynamic obstacle avoidance etc.

Keywords

vehicles formation control, potential fields, unity, unity3d, obstacle avoidance, dynamic formation, adaptive formation, coordinated movement, non-holonomic constraints

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology
Files
Status
defended, grade C
Date
15 June 2016
Reviewer
Kapinus Michal, Ing.
Committee
Kolář Dušan, doc. Dr. Ing. (DIFS FIT BUT), předseda
Burget Radek, doc. Ing., Ph.D. (DIFS FIT BUT), člen
Szőke Igor, Ing., Ph.D. (DCGM FIT BUT), člen
Vašíček Zdeněk, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Zbořil František, doc. Ing., Ph.D. (DITS FIT BUT), člen
Citation
REVICKÝ, Peter. Řízení formace vozidel. Brno, 2016. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2016-06-15. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/18933/
BibTeX 
@bachelorsthesis{FITBT18933,
    author = "Peter Revick\'{y}",
    type = "Bachelor's thesis",
    title = "\v{R}\'{i}zen\'{i} formace vozidel",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2016,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/18933/"
}

Theses

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