Lyapunov-Based Control for a Swarm of Planar Nonholonomic Vehicles

被引：15
|
作者：
Kumar S.A. [1 ]
Vanualailai J. [2 ]
Sharma B. [2 ]
机构：
[1] School of Mathematical and Computing Sciences, Fiji National University, Suva
[2] School of Computing, Information and Mathematical Sciences, University of the South Pacific, Suva
来源：
Mathematics in Computer Science | 2015年 / 9卷 / 4期
关键词：
Collision avoidance; Control of multiple robots; Lagrangian swarm model; Lyapunov function; Lyapunov stability; Nonholonomic mobile robots; Swarm intelligence;
D O I：
10.1007/s11786-015-0243-z
中图分类号：
学科分类号：
摘要：
In this paper, we develop a planar Lagrangian swarm model using the Direct Method of Lyapunov to construct the instantaneous velocity of each individual in the swarm. The velocity controllers ensure the cohesion and therefore the stability of the swarm. We introduce novel Lyapunov functions which allow the swarm to navigate in obstacle-free and obstacle-cluttered environments. We apply the methodology to a swarm of planar nonholonomic vehicles. Via computer simulations, we illustrate several self-organizations such as parallel formation, emergent leader, split/rejoin maneuver, and tunnelling for obstacle avoidance. © 2015, Springer Basel.
引用
收藏
页码：461 / 475
页数：14
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