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

页码：37 / 42

页数：6

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