Target Region Tracking for Multi-Agent Systems

被引：0

作者：

Ren, Beibei ^{[1
]}

Ge, Shuzhi Sam ^{[1
]}

Li, Yanan ^{[1
]}

Jiao, Zongxia ^{[2
]}

Liu, Jinkun ^{[2
]}

Lee, Tong Heng ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

[2] Beijing Univ Aeronaut & Astronaut, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China

来源：

ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3 | 2009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：

In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories outside the target region nor desired pinpoint positions inside the target region. The framework does not depend on a fixed ordering of agents, and thus, flexibility is improved. Simulation results illustrate the performance of the proposed approach.

引用

页码：123 / 128

页数：6

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