Multi-agent motion control in cluttered and noisy environments

被引：0
作者：
机构：
[1] Center for Advanced Infrastructure and Transportation, Rutgers University, Piscataway
[2] School of Electrical and Computer Engineering, Oklahoma State University, Stillwater
来源：
La, H. M. (hung.la11@rutgers.edu) | 1600年 / Engineering and Technology Publishing卷 / 08期
关键词：
Dynamic target tracking; Flocking control; Mobile agent networks; Multi-agent systems;
D O I：
10.12720/jcm.8.1.32-46
中图分类号：
学科分类号：
摘要：
Birds, bees, and fish often flock together in groups to find the source of food (target) based on local information. Inspired by this natural phenomenon, flocking control algorithms are designed to coordinate the activities of multiple agents in cluttered and noisy environments, respectively. First, to allow agents to track and observe the target better in cluttered environments, two new approaches are proposed to control the center of mass (CoM) of positions and velocities of all mobile agents in the network (Single- CoM), and the center of mass of positions and velocities of each agent and its neighbors (Multi-CoM), respectively. With these approaches, the flock can better track the target. Second, to deal with noisy measurements we proposed two flocking control algorithms, Multi-CoM-Shrink and Multi- CoM-Cohesion. Based on these algorithms, all agents can form a network and maintain connectivity, even with noisy measurements. We also investigate the stability of our algorithms. The numerical experimental tests are performed to demonstrate the effectiveness of the proposed approach. © 2013 Engineering and Technology Publishing.
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页码：32 / 46
页数：14
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