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Relation-invariable persistent formation control with collision avoidance and connectivity preservation

被引：0
|
作者：
Yu, Dengxiu [1 ]
Chen, C. L. Philip [1 ]
机构：
[1] Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau, Peoples R China
来源：
2018 CHINESE AUTOMATION CONGRESS (CAC) | 2018年
基金：
中国国家自然科学基金;
关键词：
Relation-invariable persistent formation; collision avoidance; connectivity preservation; potential function; AUTOMATIC-GENERATION; NONLINEAR-SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, relation-invariable persistent formation (RIPF) control with collision avoidance and connectivity preservation is presented. RIPF can construct an optimal formation of least edges when agents in formation can only receive range information. And this formation requires less communication and computation. It has not been studied how to drive the agents to their desired position in RIPF control while avoid collision and preserve connectivity. Three goals for RIPF are as follows: formation shape maintenances, collision avoidance (obstacle-collision avoidance, and interagent-collision avoidance), and connectivity preservation. To realize the control goals, a novel potential function is designed. The simulation results show that our control law is efficient.
引用
收藏
页码：2803 / 2808
页数：6
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