Cooperative guidance strategy with a leader-follower structure

被引：0
|
作者：
Shi, Zhexin [1 ]
Yu, Jianglong [1 ]
Wei, Jiahong [1 ]
Dong, Xiwang [1 ,2 ]
Li, Qingdong [1 ]
Ren, Zhang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Chongqing Univ, Minist Educ China, Key Lab Dependable Serv Comp Cyber Phys Soc, Chongqing 400044, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Paper; Instruction; Chinese Control Conference; IMPACT-TIME; LAW; DEFENSE;
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：
The cooperative guidance design and analysis issues for multiple robots system are investigated. First, a cooperative guidance structure is constructed by leader layer robots and follower layer robots. Then, for the leader robot layer, the cooperative detection guidance law is designed to achieve the coordination of the detection field of view (FOV), while providing the reference trajectories. Third, for the follower robot layer, the time-varying line of sight (LOS) angle formation tracking guidance law is proposed based on the leader robots' LOS angle trajectories convex combination. In addition, the design process is given given. Finally, a cooperative guidance platform consisting of two leaders, three followers, and a target is constructed. The theoretical results are verified by numerical simulation examples, and experimental results are presented on the platform.
引用
收藏
页码：3687 / 3692
页数：6
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