Search results for: model predictive control.

Authors: Alireza Azimi Sani

Abstract:

This paper discusses the design characteristics management accounting systems should have to be useful for strategic planning and control and provides brief introductions to strategic variance analysis, profit-linked performance measurement models and balanced scorecard. It shows two multi-period, multiproduct models are specified, can be related to Porter's strategy framework and cost and revenue drivers, and can be used to support strategic planning, control and cost management.

Keywords: Accounting, balanced scorecard, profit-linked, strategic management, variance analysis.

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Authors: Tawiwat V., Tosapolporn P., Kedit J.

Abstract:

This research proposes the state of art on how to control or find the trajectory paths of the RRP robot when the prismatic joint is malfunction. According to this situation, the minimum energy of the dynamic optimization is applied. The RRP robot or similar systems have been used in many areas such as fire fighter truck, laboratory equipment and military truck for example a rocket launcher. In order to keep on task that assigned, the trajectory paths must be computed. Here, the open loop control is applied and the result of an example show the reasonable solution which can be applied to the controllable system.

Keywords: RRP robot, Optimal Control, Minimum Energy and Under Actuator.

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Authors: Georgi I. Petkov, Ivan I. Vankov, Yolina A. Petrova

Abstract:

A structure-based model of category learning and categorization at different levels of abstraction is presented. The model compares different structures and expresses their similarity implicitly in the forms of mappings. Based on this similarity, the model can categorize different targets either as members of categories that it already has or creates new categories. The model is novel using two threshold parameters to evaluate the structural correspondence. If the similarity between two structures exceeds the higher threshold, a new sub-ordinate category is created. Vice versa, if the similarity does not exceed the higher threshold but does the lower one, the model creates a new category on higher level of abstraction.

Keywords: Analogy-making, categorization, learning of categories, abstraction, hierarchical structure.

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Authors: S. A. Gawish, F. A. Khalifa, R. M. Mostafa

Abstract:

This paper presents Simulation and experimental study aimed at investigating the effectiveness of an adaptive artificial neural network stabilizer on enhancing the damping torque of a synchronous generator. For this purpose, a power system comprising a synchronous generator feeding a large power system through a short tie line is considered. The proposed adaptive neuro-control system consists of two multi-layered feed forward neural networks, which work as a plant model identifier and a controller. It generates supplementary control signals to be utilized by conventional controllers. The details of the interfacing circuits, sensors and transducers, which have been designed and built for use in tests, are presented. The synchronous generator is tested to investigate the effect of tuning a Power System Stabilizer (PSS) on its dynamic stability. The obtained simulation and experimental results verify the basic theoretical concepts.

Keywords: Adaptive artificial neural network, power system stabilizer, synchronous generator.

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Authors: Kostas Metaxiotis

Abstract:

Portfolio optimization is one of the most important topics in finance. This paper proposes a mean–variance–skewness (MVS) portfolio optimization model. Traditionally, the portfolio optimization problem is solved by using the mean–variance (MV) framework. In this study, we formulate the proposed model as a three-objective optimization problem, where the portfolio's expected return and skewness are maximized whereas the portfolio risk is minimized. For solving the proposed three-objective portfolio optimization model we apply an adapted version of the non-dominated sorting genetic algorithm (NSGAII). Finally, we use a real dataset from FTSE-100 for validating the proposed model.

Keywords: Evolutionary algorithms, portfolio optimization, skewness, stock selection.

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Authors: Zahra Mohammadnazari, Fateme Rostambeygi, Fatemeh Dehrouyeh, Hwang Ki-Soon, Amir Aghsami

Abstract:

Corporations have always prioritized efforts to examine and improve processes. Various metrics, such as the cost and time required to implement the process and can be specified in this regard. Process improvement can be defined as an improvement of these indicators. This is accomplished by looking at prospective adjustments to the current executive process model or the resources allotted to it. Research has been conducted in this paper to the improve the procurement process and aims to explore assessment prospects in the project using a combination of process mining and simulation (benefiting from Play-In and Play-Out methodologies). To run the simulation, we will need to complete the control flow diagram, institution settings, resource settings, and activity settings. The process of mining event logs yields the process control flow. However, both the entry of institutions and the distribution of resources must be modeled. The rate of admission of institutions and the distribution of time for the implementation of activities will be determined in the next step.

Keywords: Business reengineering, Petri net, process-based simulation, process mining.

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Authors: C. Patrascioiu, V. Matei, N. Nicolae

Abstract:

The paper describes the experiments and the kinetic parameters calculus of the gasoil hydrofining. They are presented experimental results of gasoil hidrofining using Mo and promoted with Ni on aluminum support catalyst. The authors have adapted a kinetic model gasoil hydrofining. Using this proposed kinetic model and the experimental data they have calculated the parameters of the model. The numerical calculus is based on minimizing the difference between the experimental sulf concentration and kinetic model estimation.

Keywords: Hydrofining, kinetic, modeling, optimization.

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Authors: Da-kuan Wei, Xian-zhong Zhou, Dong-jun Xin, Zhi-wei Chen

Abstract:

The information systems with incomplete attribute values and fuzzy decisions commonly exist in practical problems. On the base of the notion of variable precision rough set model for incomplete information system and the rough set model for incomplete and fuzzy decision information system, the variable rough set model for incomplete and fuzzy decision information system is constructed, which is the generalization of the variable precision rough set model for incomplete information system and that of rough set model for incomplete and fuzzy decision information system. The knowledge reduction and heuristic algorithm, built on the method and theory of precision reduction, are proposed.

Keywords: Rough set, Incomplete and fuzzy decision information system, Limited valued tolerance relation, Knowledge reduction, Variable rough set model

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Authors: H. B. Mehta, Vipul M. Patel, Jyotirmay Banerjee

Abstract:

The present paper discusses the prediction of gas-liquid two-phase frictional pressure drop in a 2.12 mm horizontal circular minichannel using Artificial Neural Network (ANN). The experimental results are obtained with air as gas phase and water as liquid phase. The superficial gas velocity is kept in the range of 0.0236 m/s to 0.4722 m/s while the values of 0.0944 m/s, 0.1416 m/s and 0.1889 m/s are considered for superficial liquid velocity. The experimental results are predicted using different Artificial Neural Network (ANN) models. Networks used for prediction are radial basis, generalised regression, linear layer, cascade forward back propagation, feed forward back propagation, feed forward distributed time delay, layer recurrent, and Elman back propagation. Transfer functions used for networks are Linear (PURELIN), Logistic sigmoid (LOGSIG), tangent sigmoid (TANSIG) and Gaussian RBF. Combination of networks and transfer functions give different possible neural network models. These models are compared for Mean Absolute Relative Deviation (MARD) and Mean Relative Deviation (MRD) to identify the best predictive model of ANN.

Keywords: Minichannel, Two-Phase Flow, Frictional Pressure Drop, ANN, MARD, MRD.

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Authors: A. Safaee, M. S. Mehrabani, M. B. Menhaj, V. Mousavi, S. Z. Moussavi

Abstract:

Monocopter is a single-wing rotary flying vehicle which has the capability of hovering. This flying vehicle includes two dynamic parts in which more efficiency can be expected rather than other Micro UAVs due to the extended area of wing compared to its fuselage. Low cost and simple mechanism in comparison to other vehicles such as helicopter are the most important specifications of this flying vehicle. In the previous paper we discussed the introduction of the final system but in this paper, the experimental design process of Monocopter and its control algorithm has been investigated in general. Also the editorial bugs in the previous article have been corrected and some translational ambiguities have been resolved. Initially by constructing several prototypes and carrying out many flight tests the main design parameters of this air vehicle were obtained by experimental measurements. Eventually the required main monocopter for this project was constructed. After construction of the monocopter in order to design, implementation and testing of control algorithms first a simple optic system used for determining the heading angle. After doing numerous tests on Test Stand, the control algorithm designed and timing of applying control inputs adjusted. Then other control parameters of system were tuned in flight tests. Eventually the final control system designed and implemented using the AHRS sensor and the final operational tests performed successfully.

Keywords: Monocopter, Flap, Heading Angle, AHRS, Cyclic, Photo Diode.

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Authors: Sh. Jamali, A. Eftekhari

Abstract:

Transmission control protocol (TCP) Vegas detects network congestion in the early stage and successfully prevents periodic packet loss that usually occurs in TCP Reno. It has been demonstrated that TCP Vegas outperforms TCP Reno in many aspects. However, TCP Vegas suffers several problems that affect its congestion avoidance mechanism. One of the most important weaknesses in TCP Vegas is that alpha and beta depend on a good expected throughput estimate, which as we have seen, depends on a good minimum RTT estimate. In order to make the system more robust alpha and beta must be made responsive to network conditions (they are currently chosen statically). This paper proposes a modified Vegas algorithm, which can be adjusted to present good performance compared to other transmission control protocols (TCPs). In order to do this, we use PSO algorithm to tune alpha and beta. The simulation results validate the advantages of the proposed algorithm in term of performance.

Keywords: Self-managing, Congestion control, TCP.

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Authors: Govind Shay Sharma, Randhir Singh Baghel

Abstract:

The stock management of raw materials and finished goods is a significant issue for industries in fulfilling customer demand. Optimization of inventory strategies is crucial to enhancing customer service, reducing lead times and costs, and meeting market demand. This paper suggests finding an approach to predict the optimum stock level by utilizing past stocks and forecasting the required quantities. In this paper, we utilized Artificial Neural Network (ANN) to determine the optimal value. The objective of this paper is to discuss the optimized ANN that can find the best solution for the inventory model. In the context of the paper, we mentioned that the k-means algorithm is employed to create homogeneous groups of items. These groups likely exhibit similar characteristics or attributes that make them suitable for being managed using uniform inventory control policies. The paper proposes a method that uses the neural fit algorithm to control the cost of inventory.

Keywords: Artificial Neural Network, inventory management, optimization, distributor center.

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Authors: Suparman

Abstract:

Piecewise polynomial regression model is very flexible model for modeling the data. If the piecewise polynomial regression model is matched against the data, its parameters are not generally known. This paper studies the parameter estimation problem of piecewise polynomial regression model. The method which is used to estimate the parameters of the piecewise polynomial regression model is Bayesian method. Unfortunately, the Bayes estimator cannot be found analytically. Reversible jump MCMC algorithm is proposed to solve this problem. Reversible jump MCMC algorithm generates the Markov chain that converges to the limit distribution of the posterior distribution of piecewise polynomial regression model parameter. The resulting Markov chain is used to calculate the Bayes estimator for the parameters of piecewise polynomial regression model.

Keywords: Piecewise, Bayesian, reversible jump MCMC, segmentation.

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Authors: N. Lokeshwari, G. Srinikethan, V. S. Hegde

Abstract:

Monitoring is essential to assessing the effectiveness of air pollution control actions. The goal of the air quality information system is through monitoring, to keep authorities, major polluters and the public informed on the short and long-term changes in air quality, thereby helping to raise awareness. Mathematical models are the best tools available for the prediction of the air quality management. The main objective of the work was to apply a Model that predicts the concentration levels of different pollutants at any instant of time. In this study, distribution of air pollutants concentration such as nitrogen dioxides (NO₂), sulphur dioxides (SO₂) and total suspended particulates (TSP) of industries are determined by using Gaussian model. Besides that, the effect of wind speed and its direction on the pollutant concentration within the affected area were evaluated. In order to determine the efficiency and percentage of error in the modeling, validation process of data was done. Sampling of air quality was conducted in getting existing air quality around a factory and the concentrations of pollutants in a plume were inversely proportional to wind velocity. The resultant ground level concentrations were then compared to the quality standards to determine if there could be a negative impact on health. This study concludes that concentration of pollutants can be significantly predicted using Gaussian Model. The data base management is developed for the air data of Hubli-Dharwad region.

Keywords: DBMS, NO2, SO2, Wind rose plots.

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Authors: B. Baigzadeh, V.Nazarzehi, H.Khaloozadeh

Abstract:

The two cart inverted pendulum system is a good bench mark for testing the performance of system dynamics and control engineering principles. Devasia introduced this system to study the asymptotic tracking problem for nonlinear systems. In this paper the problem of asymptotic tracking of the two-cart with an inverted-pendulum system to a sinusoidal reference inputs via introducing a novel method for solving finite-horizon nonlinear optimal control problems is presented. In this method, an iterative method applied to state dependent Riccati equation (SDRE) to obtain a reliable algorithm. The superiority of this technique has been shown by simulation and comparison with the nonlinear approach.

Keywords: Nonlinear optimal control, State dependent Riccatiequation, Asymptotic tracking, inverted pendulum

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Authors: H. Shayeghi, H.A. Shayanfar, A. Jalili

Abstract:

In the LFC problem, the interconnections among some areas are the input of disturbances, and therefore, it is important to suppress the disturbances by the coordination of governor systems. In contrast, tie-line power flow control by TCPS located between two areas makes it possible to stabilize the system frequency oscillations positively through interconnection, which is also expected to provide a new ancillary service for the further power systems. Thus, a control strategy using controlling the phase angle of TCPS is proposed for provide active control facility of system frequency in this paper. Also, the optimum adjustment of PID controller's parameters in a robust way under bilateral contracted scenario following the large step load demands and disturbances with and without TCPS are investigated by Particle Swarm Optimization (PSO), that has a strong ability to find the most optimistic results. This newly developed control strategy combines the advantage of PSO and TCPS and has simple stricture that is easy to implement and tune. To demonstrate the effectiveness of the proposed control strategy a three-area restructured power system is considered as a test system under different operating conditions and system nonlinearities. Analysis reveals that the TCPS is quite capable of suppressing the frequency and tie-line power oscillations effectively as compared to that obtained without TCPS for a wide range of plant parameter changes, area load demands and disturbances even in the presence of system nonlinearities.

Keywords: LFC, TCPS, Dregulated Power System, PowerSystem Control, PSO.

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Authors: Shiwei Deng, Yang Bao

Abstract:

In this paper, we present a model-based regression test suite reducing approach that uses EFSM model dependence analysis and probability-driven greedy algorithm to reduce software regression test suites. The approach automatically identifies the difference between the original model and the modified model as a set of elementary model modifications. The EFSM dependence analysis is performed for each elementary modification to reduce the regression test suite, and then the probability-driven greedy algorithm is adopted to select the minimum set of test cases from the reduced regression test suite that cover all interaction patterns. Our initial experience shows that the approach may significantly reduce the size of regression test suites.

Keywords: Dependence analysis, EFSM model, greedy algorithm, regression test.

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Authors: I. Abuiziah, A. Oulhaj, K. Sebari, D. Ouazar, A. A. Saber

Abstract:

In water pipeline systems, the flow control is an integrated part of the operation, for instance, opening and closing the valves, starting and stopping the pumps, when these operations very quickly performed, they shall cause the hydraulic transient phenomena, which may cause pump and, valve failures and catastrophic pipe ruptures. Fluid transient analysis is one of the more challenging and complicated flow problems in the design and the operation of water pipeline systems. Transient control has become an essential requirement for ensuring safe operation of water pipeline systems. An accurate analysis and suitable protection devices should be used to protect water pipeline systems. The fourth-order Runge-Kutta method has been used to solve the dynamic and continuity equations in the rigid column method, while the characteristics method used to solve these equations in the full elastic methods. This paper presents the problem of modeling and simulating of transient phenomena in conveying pipeline systems based on the rigid column and full elastic methods. Also, it provides the influence of using the protection devices to protect the pipeline systems from damaging due to the gain pressure which occur in the transient state. The results obtained provide that the model is an efficient tool for flow transient analysis and provide approximately identical results by using these two methods. Moreover; using the closed surge tank reduces the unfavorable effects of transients.

Keywords: Flow transient, Pipeline, Air chamber, Numerical model, Protection devices, Elastic method, Rigid column method.

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Authors: Ramon Santana

Abstract:

The use of biometric identifiers in the field of information security, access control to resources, authentication in ATMs and banking among others, are of great concern because of the safety of biometric data. In the general architecture of a biometric system have been detected eight vulnerabilities, six of them allow obtaining minutiae template in plain text. The main consequence of obtaining minutia templates is the loss of biometric identifier for life. To mitigate these vulnerabilities several models to protect minutiae templates have been proposed. Several vulnerabilities in the cryptographic security of these models allow to obtain biometric data in plain text. In order to increase the cryptographic security and ease of reversibility, a minutiae templates protection model is proposed. The model aims to make the cryptographic protection and facilitate the reversibility of data using two levels of security. The first level of security is the data transformation level. In this level generates invariant data to rotation and translation, further transformation is irreversible. The second level of security is the evaluation level, where the encryption key is generated and data is evaluated using a defined evaluation function. The model is aimed at mitigating known vulnerabilities of the proposed models, basing its security on the impossibility of the polynomial reconstruction.

Keywords: Fingerprint, template protection, bio-cryptography, minutiae protection.

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Authors: Martin Kendra, Jaroslav Mašek, Juraj Čamaj, Martin Búda

Abstract:

The paper deals with possibilities of increase train capacity by using a new type of railway wagon. In the first part is created a mathematical model to calculate the capacity of the train. The model is based on the main limiting parameters of the train - maximum number of axles per train, maximum gross weight of train, maximum length of train and number of TEUs per one wagon. In the second part is the model applied to four different model trains with different composition of the train set and three different average weights of TEU and a train consisting of a new type of wagons. The result is to identify where the carrying capacity of the original trains is higher, respectively less than a capacity of train consisting of a new type of wagons.

Keywords: Loading units, theoretical capacity model, train capacity, wagon for intermodal transport.

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Authors: Jamuna Konda, Umamaheswara Reddy Karumuri, Sriramya Muthugi, Varun Pishati, Ravi Shakya,

Abstract:

This paper investigates the challenges involved in mathematical modeling of plant simulation models ensuring the performance of the plant models much closer to the real time physical model. The paper includes the analysis performed and investigation on different methods of modeling, design and development for plant model. Issues which impact the design time, model accuracy as real time model, tool dependence are analyzed. The real time hardware plant would be a combination of multiple physical models. It is more challenging to test the complete system with all possible test scenarios. There are possibilities of failure or damage of the system due to any unwanted test execution on real time.

Keywords: Model Based Design, MATLAB, Simulink, Stateflow, plant model, real time model, real-time workshop, target language compiler.

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Authors: A. Petz, S. Duckwitz, C. Schmalz, S. Meyer, S. Mütze-Niewöhner, C.M. Schlick

Abstract:

Although services play a crucial role in economy, service did not gain as much importance as productivity management in manufacturing. This paper presents key findings from literature and practice. Based on an initial definition of complex services, seven productivity concepts are briefly presented and assessed by relevant, complex service specific criteria. Following the findings a complex service productivity model is proposed. The novel model comprises of all specific dimensions of service provision from both, the provider-s as well as costumer-s perspective. A clear assignment of identified value drivers and relationships between them is presented. In order to verify the conceptual service productivity model a case study from a project engineering department of a chemical plant development and construction company is presented.

Keywords: assessment model, complex services, service productivity model, value driver.

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Authors: Mohsen Ziaee

Abstract:

In this paper, a mixed integer linear programming (MILP) model is presented to solve the flexible job shop scheduling problem (FJSP). This problem is one of the hardest combinatorial problems. The objective considered is the minimization of the makespan. The computational results of the proposed MILP model were compared with those of the best known mathematical model in the literature in terms of the computational time. The results show that our model has better performance with respect to all the considered performance measures including relative percentage deviation (RPD) value, number of constraints, and total number of variables. By this improved mathematical model, larger FJS problems can be optimally solved in reasonable time, and therefore, the model would be a better tool for the performance evaluation of the approximation algorithms developed for the problem.

Keywords: Scheduling, flexible job shop, makespan, mixed integer linear programming.

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Authors: Farzaneh Ahmadzadeh

Abstract:

Quality control charts are very effective in detecting out of control signals but when a control chart signals an out of control condition of the process mean, searching for a special cause in the vicinity of the signal time would not always lead to prompt identification of the source(s) of the out of control condition as the change point in the process parameter(s) is usually different from the signal time. It is very important to manufacturer to determine at what point and which parameters in the past caused the signal. Early warning of process change would expedite the search for the special causes and enhance quality at lower cost. In this paper the quality variables under investigation are assumed to follow a multivariate normal distribution with known means and variance-covariance matrix and the process means after one step change remain at the new level until the special cause is being identified and removed, also it is supposed that only one variable could be changed at the same time. This research applies artificial neural network (ANN) to identify the time the change occurred and the parameter which caused the change or shift. The performance of the approach was assessed through a computer simulation experiment. The results show that neural network performs effectively and equally well for the whole shift magnitude which has been considered.

Keywords: Artificial neural network, change point estimation, monte carlo simulation, multivariate exponentially weighted movingaverage

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Authors: Wudhichai Assawinchaichote

Abstract:

This paper examines the problem of designing robust H controllers for for HIV/AIDS infection system with dual drug dosages described by a Takagi-Sugeno (S) fuzzy model. Based on a linear matrix inequality (LMI) approach, we develop an H controller which guarantees the L2-gain of the mapping from the exogenous input noise to the regulated output to be less than some prescribed value for the system. A sufficient condition of the controller for this system is given in term of Linear Matrix Inequalities (LMIs). The effectiveness of the proposed controller design methodology is finally demonstrated through simulation results. It has been shown that the anti-HIV vaccines are critically important in reducing the infected cells.

Keywords: H∞ Fuzzy control; Takagi-Sugeno (TS) fuzzy model; Linear Matrix Inequalities (LMIs); HIV/AIDS infection system

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Authors: Jouhra Dad, Mohammed Ouali, Yahia Lebbah

Abstract:

Urban road network traffic has become one of the most studied research topics in the last decades. This is mainly due to the enlargement of the cities and the growing number of motor vehicles traveling in this road network. One of the most sensitive problems is to verify if the network is congestion-free. Another related problem is the automatic reconfiguration of the network without building new roads to alleviate congestions. These problems require an accurate model of the traffic to determine the steady state of the system. An alternative is to simulate the traffic to see if there are congestions and when and where they occur. One key issue is to find an adequate model for road intersections. Once the model established, either a large scale model is built or the intersection is represented by its performance measures and simulation for analysis. In both cases, it is important to seek the queueing model to represent the road intersection. In this paper, we propose to model the road intersection as a BCMP queueing network and we compare this analytical model against a simulation model for validation.

Keywords: Queueing theory, transportation systems, BCMPqueueing network, performance measures, modeling, simulation

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Authors: Denisa Ferenčíková, Petr Briš

Abstract:

Customer audits are generally used to ensure customer that supplier is continuously able to meet his requirements while supplying him required products and services. However, customer audits can be considered as a very useful quality control tool for suppliers as well. In our paper, we analyzed the process of customer audits realized in Czech companies from both perspectives: a supplier´s viewpoint and customer´s viewpoint. At the end, we tried to emphasize some areas that should not be omitted during the audit process.

Keywords: Customer Audit, Quality Control, Quality Management, Product Quality, Service Quality, Process Quality.

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Authors: Tiexin Wang, Sebastien Truptil, Frederick Benaben

Abstract:

Model transformation, as a pivotal aspect of Modeldriven engineering, attracts more and more attentions both from researchers and practitioners. Many domains (enterprise engineering, software engineering, knowledge engineering, etc.) use model transformation principles and practices to serve to their domain specific problems; furthermore, model transformation could also be used to fulfill the gap between different domains: by sharing and exchanging knowledge. Since model transformation has been widely used, there comes new requirement on it: effectively and efficiently define the transformation process and reduce manual effort that involved in. This paper presents an automatic model transformation methodology based on semantic and syntactic comparisons, and focuses particularly on granularity issue that existed in transformation process. Comparing to the traditional model transformation methodologies, this methodology serves to a general purpose: crossdomain methodology. Semantic and syntactic checking measurements are combined into a refined transformation process, which solves the granularity issue. Moreover, semantic and syntactic comparisons are supported by software tool; manual effort is replaced in this way.

Keywords: Automatic model transformation, granularity issue, model-driven engineering, semantic and syntactic comparisons.

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Authors: Maziar A. Sharbafi, Caro Lucas, Aida Mohammadinejad, Mostafa Yaghobi

Abstract:

The Combination of path planning and path following is the main purpose of this paper. This paper describes the developed practical approach to motion control of the MRL small size robots. An intelligent controller is applied to control omni-directional robots motion in simulation and real environment respectively. The Brain Emotional Learning Based Intelligent Controller (BELBIC), based on LQR control is adopted for the omni-directional robots. The contribution of BELBIC in improving the control system performance is shown as application of the emotional learning in a real world problem. Optimizing of the control effort can be achieved in this method too. Next the implicit communication method is used to determine the high level strategies and coordination of the robots. Some simple rules besides using the environment as a memory to improve the coordination between agents make the robots' decision making system. With this simple algorithm our team manifests a desirable cooperation.

Keywords: multi-agent systems (MAS), Emotional learning, MIMO system, BELBIC, LQR, Communication via environment

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Authors: Jai Raj, Jito Vanualailai, Bibhya Sharma, Shonal Singh

Abstract:

This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior.

Keywords: Swarm, practical stability, motion planning, emergent.

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