A New Algorithm for Motion Control of Acyclic Minimally Persistent Formation of Mobile Autonomous Agents

被引：0
|
作者：
Atta, Debabrata [1 ]
Subudhi, Bidyadhar [1 ]
机构：
[1] Natl Inst Technol, Dept Elect Engn, Rourkela 769008, India
来源：
2009 ANNUAL IEEE INDIA CONFERENCE (INDICON 2009) | 2009年
关键词：
Formation Control; Autonomous Agents; Leader-Follower; Directed Graph; RIGIDITY;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [4] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest path between its initial & final position during the motion of formation is developed using SQP-a nonlinear optimization technique.
引用
收藏
页码：37 / 42
页数：6
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