A hierarchical cyclic pursuit scheme for vehicle networks

被引：72

作者：

Smith, SL ^{[1
]}

Broucke, ME ^{[1
]}

Francis, BA ^{[1
]}

机构：

[1] Univ Toronto, Dept Elect & Comp Engn, Toronto, ON M5S 3G4, Canada

来源：

AUTOMATICA | 2005年 / 41卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

autonomous vehicles; hierarchies; cooperative control; multi-agent systems;

D O I：

10.1016/j.automatica.2005.01.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The agreement problem is studied whereby a group of mobile agents achieves convergence to a common point. A hierarchical cyclic pursuit scheme is introduced, and it is shown that this scheme yields a very significant increase in the rate of convergence to a common point when compared to traditional cyclic pursuit. A second scheme is introduced in which there are more communication links between vehicles. It is shown that this scheme produces a rate of convergence greater than the traditional scheme but significantly less than the hierarchical scheme. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：1045 / 1053

页数：9