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Méthodes pour le guidage coopératif.

Abstract : The thesis objective is to define and study the performances of cooperative guidance methods of autonomous aerial vehicles. The interest of cooperative guidance is to entrust a complex mission to a fleet, instead of an isolated vehicle, to distribute the workload and improve performances and reliability. Studied guidance laws are distributed among all vehicles, on one hand to distribute the computation load, and on the other hand to remove the possibility to lose the centralized organ of command computation.The first part deals with the possibilities offered by the nearest neighbour rule. The developed guidance law consists in elaborating the command of each vehicle by combining the states of neighbour vehicles. To transmit instructions to the fleet of vehicles, objects denominated virtual agents are introduced. These allow figuring obstacles, indicating direction or target using existing mechanisms of the guidance law.The second part deals with the possibilities offered by model predictive control. This type of command consists in employing a behavioural model of the system to predict the control effects, and thus finding the one that minimises a cost criterion while respecting system's constraints. The developed guidance law uses a cost criterion that take into account and arbitrate between the several aspects of the mission (safety, mission evolution, control moderation), and a control search procedure based on a predefined set of candidate controls to explore the control space efficiently. This procedure, different from usual optimisation algorithms, generate a low and constant computation load, needs no initialisation step and is little sensitive to local minima.
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Submitted on : Wednesday, January 22, 2014 - 8:52:08 AM
Last modification on : Monday, December 14, 2020 - 12:38:04 PM
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  • HAL Id : tel-00934428, version 1



Yohan Rochefort. Méthodes pour le guidage coopératif.. Autre. Supélec, 2013. Français. ⟨NNT : 2013SUPL0015⟩. ⟨tel-00934428⟩



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