# Lioi Altered Version

Published on January 7, 2008

Author: Belly

Source: authorstream.com

Simulations of Robotic Pursuit Using Matlab and Simulink:  Simulations of Robotic Pursuit Using Matlab and Simulink Joshua Lioi ISR Summer REU 2006 Advisor: Dr. P. S. Krishnaprasad Outline:  Outline Classical Pursuit & Mice Problem Robots being modeled Simulations Cyclic Pursuit & Cyclic mice problem Motion Camouflage Robot Motion Camouflage Collaboration Applications Classical Pursuit:  Classical Pursuit Pierre Bouger 1732 Predator always moves toward prey Spiral Trajectory Capture requirements for the speed Allows for no constraints of motion Pursuit Curve. Retrieved June 20, 2006, from Wolfram MathWorld Web site: http://mathworld.wolfram.com/PursuitCurve.html Mice Problem:  Mice Problem All mice have equal speed Counterclockwise and constant speed Similar shape at each instant Meet at Brocard point Irregular polygons and relative speeds Pursuit Curve. Retrieved June 20, 2006, from Wolfram MathWorld Web site: http://mathworld.wolfram.com/PursuitCurve.html Meet the Robots:  Meet the Robots Genghis and Lola Controls: speed and angular velocity Nonholonomic Crickets Traditional Equations Matlab & Simulink:  Matlab & Simulink Classical Example:  Classical Example Cyclic Pursuit:  Cyclic Pursuit Marshall, Broucke, and Francis Relative coordinates r, α, and β Proportional angular velocity Similar to Classical, but more realistic Marshall, J. A., Broucke, M. E., Francis, B. A. (2004). “Formations of Vehicles in Cyclic Pursuit”. IEEE Trans. Automat. Contr. 49, 1963-1974. Cyclic Pursuit:  Cyclic Pursuit Classical versus Cyclic in Circular Pursuit Mice Problem Simulation:  Mice Problem Simulation Equilateral Triangle Mice Problem Simulation:  Mice Problem Simulation Irregular Triangle Motion Camouflage:  Motion Camouflage Dragonflies and echolocating bats Optic Flow Two Styles Model used (constant speed) Equations: Justh, E. W., Krishnaprasad, P. S. (2006). “Steering Laws for Motion Camouflage”. Proc. R. Soc. A FirstCite Early Online Publishing Ghose, Kaushlik (2006, Apr 28). Retrieved August 9, 2006, from Kaushlik Ghose research page Web site: http://www.glue.umd.edu/%7Ekghose/ Motion Camouflage:  Motion Camouflage Successes of Robot Motion Camouflage Motion Camouflage:  Motion Camouflage Failures of Robot Motion Camouflage Collaboration:  Collaboration

28. 04. 2008
0 views

17. 09. 2007
0 views

30. 04. 2008
0 views

22. 04. 2008
0 views

18. 04. 2008
0 views

17. 04. 2008
0 views

16. 04. 2008
0 views

14. 04. 2008
0 views

13. 04. 2008
0 views

10. 04. 2008
0 views

09. 04. 2008
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

13. 09. 2007
0 views

13. 09. 2007
0 views

13. 09. 2007
0 views

13. 09. 2007
0 views

05. 10. 2007
0 views

12. 10. 2007
0 views

17. 10. 2007
0 views

18. 10. 2007
0 views

22. 10. 2007
0 views

22. 10. 2007
0 views

07. 09. 2007
0 views

07. 09. 2007
0 views

07. 09. 2007
0 views

13. 09. 2007
0 views

23. 10. 2007
0 views

23. 10. 2007
0 views

24. 10. 2007
0 views

05. 10. 2007
0 views

17. 10. 2007
0 views

31. 08. 2007
0 views

01. 12. 2007
0 views

07. 12. 2007
0 views

25. 10. 2007
0 views

29. 10. 2007
0 views

29. 10. 2007
0 views

30. 10. 2007
0 views

02. 11. 2007
0 views

07. 09. 2007
0 views

22. 10. 2007
0 views

14. 11. 2007
0 views

13. 09. 2007
0 views

16. 11. 2007
0 views

17. 11. 2007
0 views

21. 11. 2007
0 views

22. 11. 2007
0 views

23. 12. 2007
0 views

13. 09. 2007
0 views

02. 01. 2008
0 views

04. 01. 2008
0 views

15. 10. 2007
0 views

06. 11. 2007
0 views

02. 11. 2007
0 views

07. 10. 2007
0 views

20. 11. 2007
0 views

23. 10. 2007
0 views

13. 09. 2007
0 views

03. 01. 2008
0 views

19. 02. 2008
0 views

20. 02. 2008
0 views

27. 02. 2008
0 views

29. 02. 2008
0 views

07. 09. 2007
0 views

14. 12. 2007
0 views

10. 03. 2008
0 views

30. 10. 2007
0 views

11. 03. 2008
0 views

12. 03. 2008
0 views

29. 12. 2007
0 views

26. 03. 2008
0 views

26. 03. 2008
0 views

31. 08. 2007
0 views

09. 10. 2007
0 views

31. 08. 2007
0 views

31. 08. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

13. 10. 2007
0 views

26. 02. 2008
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

19. 06. 2007
0 views

31. 08. 2007
0 views

07. 01. 2008
0 views

07. 09. 2007
0 views

27. 09. 2007
0 views

13. 09. 2007
0 views

17. 10. 2007
0 views

19. 11. 2007
0 views

07. 09. 2007
0 views

29. 11. 2007
0 views

28. 12. 2007
0 views

13. 09. 2007
0 views

31. 08. 2007
0 views

01. 10. 2007
0 views

19. 06. 2007
0 views

15. 10. 2007
0 views

22. 10. 2007
0 views

31. 08. 2007
0 views

31. 08. 2007
0 views

11. 12. 2007
0 views

31. 08. 2007
0 views

19. 06. 2007
0 views

22. 10. 2007
0 views

19. 06. 2007
0 views

13. 11. 2007
0 views

19. 11. 2007
0 views

17. 10. 2007
0 views

07. 04. 2008
0 views

15. 10. 2007
0 views

07. 11. 2007
0 views

19. 06. 2007
0 views

07. 09. 2007
0 views

31. 08. 2007
0 views

03. 01. 2008
0 views

07. 09. 2007
0 views

28. 09. 2007
0 views

12. 10. 2007
0 views

13. 09. 2007
0 views