Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing

被引：0
|
作者：
Cheng, Teng-Hu [1 ]
Kan, Zhen [1 ]
Rosenfeld, Joel A. [1 ]
Dixon, Warren E. [1 ]
机构：
[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
来源：
2014 AMERICAN CONTROL CONFERENCE (ACC) | 2014年
基金：
美国国家科学基金会;
关键词：
DISTRIBUTED COORDINATION CONTROL; MULTIAGENT RENDEZVOUS PROBLEM; COOPERATIVE CONTROL; CONSENSUS; NETWORKS; AGENTS;
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：
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using only local feedback under limited and intermittent sensing. Due to the intermittent sensing, constant position feedback may not be available for agents all the time. Intermittent sensing can also lead to a disconnected network or collisions between agents. Using a navigation function framework, a decentralized switched controller is developed to navigate the agents to the desired positions while ensuring network maintenance and collision avoidance. Simulation results are provided to illustrate the performance of the developed controller.
引用
收藏
页码：3201 / 3206
页数：6
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