Swarm Obstacle and Collision Avoidance using Descriptor Functions

被引：0
|
作者：
Innocenti, Mario [1 ]
Pollini, Lorenzo [1 ]
Franzini, Giovanni [1 ]
Salvetti, Alessandro [2 ]
机构：
[1] Univ Pisa, Dept Informat Engn, I-56122 Pisa, Italy
[2] AgustaWestland SpA, I-21015 Varese, Italy
来源：
2016 IEEE CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2016年
关键词：
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 descriptor function framework is used as tool for the control management of a swarm of dynamic agents. In this framework, a provision is made for obstacle and collision avoidance, thus improving the potential of the methodology from previous results. Obstacle and collision avoidance terms are added to the overall mission performance index, and the resulting control law moves the agents along obstacle and collision free trajectories. The analytical derivation is validated via numerical simulations.
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页数：6
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