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
收藏
页码：123 / 128
页数：6
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