No-beacon collective circular motion of jointly connected multi-agents

被引：122

作者：

Chen, Zhiyong ^{[2
]}

Zhang, Hai-Tao ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Dept Control Sci & Engn, Wuhan 430074, Peoples R China

[2] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW 2308, Australia

来源：

AUTOMATICA | 2011年 / 47卷 / 09期

基金：

中国国家自然科学基金; 澳大利亚研究理事会;

关键词：

Co-operative control; Multi-agents; Circular motion; Torus; Nonholonomic vehicles; COORDINATION; FLOCKING; SYSTEMS; STABILIZATION; ALGORITHM; ROBOTS;

D O I：

10.1016/j.automatica.2011.03.012

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, a decentralized control algorithm is proposed for a group of nonholonomic vehicles to form a class of collective circular motion behavior. Without the guidance of a global beacon, the desired collective behavior occurs provided that the multi-agent system is jointly connected. Moreover, a repulsion mechanism is considered to improve the distribution evenness of the agents' circular motion phases and hence to avoid collision. The effectiveness of the approach is verified through both theoretical analysis and numerical simulation. Moreover, some interesting variations of the circular motion model are investigated to enrich the collective behaviors. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：1929 / 1937

页数：9

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