Obstacle Avoidance for Formation Systems under Hamel's formalism

被引：0
|
作者：
Gu, Yingmin [1 ]
Liu, Huageng [2 ]
机构：
[1] Jiangsu Automat Res Inst, Lianyungang, Peoples R China
[2] Beijing Inst Technol, Sch Math & Stat, Beijing, Peoples R China
来源：
PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS) | 2020年
关键词：
Terms Formation; Obstacle avoidance; Hamel's formalism; generalized Lorentz force;
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：
We consider the obstacle avoidance problem of formation vehicles in an obstacle laden environment. Two control forces, formation keeping force and generalized Lorentz force, are proposed to adaptively maintain the formation pattern while avoiding obstacles. The methods result in a flexible overall obstacle avoidance effect for formation systems demonstrated by numerical simulations.
引用
收藏
页码：842 / 845
页数：4
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