Consensus Filter Based Target-enclosing Strategies for Multiple Nonholonomic Vehicles

被引：7

作者：

Kawakami, Hiroki ^{[1
]}

Namerikawa, Toru ^{[1
]}

机构：

[1] Kanazawa Univ, Grad Sch Nat Sci & Technol, Div Elect Engn & Comp Sci, Kanazawa, Ishikawa 9201192, Japan

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

关键词：

D O I：

10.1109/CDC.2008.4739008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with cooperative target-enclosing problems using consensus filter for multiple vehicle systems. Proposed strategies are based on consensus seeking algorithms and at least one vehicle only has to acquire the states of target-object. In addition, the measurement signals are made to be agreed using the consensus filters when each vehicle acquires the noisy signal of the states of the target-object. To analyze the enclosing problem, algebraic graph theory and matrix theory are utilized. Numerical simulations and experiments are carried out to demonstrate the effectiveness of proposed methods.

引用

页码：2282 / 2287

页数：6

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