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
收藏
页码:2282 / 2287
页数:6
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