Pranay Gadiya

ORCID Identifier(s)

0000-0002-9430-902X

Graduation Semester and Year

2021

Language

English

Document Type

Thesis

Degree Name

Master of Science in Aerospace Engineering

Department

Mechanical and Aerospace Engineering

First Advisor

Animesh Chakravarthy

Abstract

In this thesis, we consider the problem of n mobile agents carrying a gripper, with the objective of gripping a moving circular target. The target may move with constant velocity, or even maneuver. We develop guidance laws by which the agents can first cage the target and subsequently grip it. These guidance laws are developed based on a collision cone framework, using which the mobile agents cooperatively steer their velocity vectors in an appropriate fashion to meet their objective. It is assumed that each of the mobile agents are equipped with a lidar sensor, using which they obtain the range and bearing to the target. These measurements are incorporated into an Extended Kalman Filter whose outputs are fed back to the guidance laws. Simulations are performed using kinematic models of the engagement, and they demonstrate that the pursuing agents can successfully grip the target.

Keywords

Collision cone, Caging and gripping, Guidance laws, UAVs

Disciplines

Aerospace Engineering | Engineering | Mechanical Engineering

Comments

Degree granted by The University of Texas at Arlington

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