A Hybrid Control Approach to Cooperative Target Tracking with Multiple Mobile Robots

被引：13
作者：
Lan, Ying [1 ]
Yan, Gangfeng [1 ]
Lin, Zhiyun [1 ]
机构：
[1] Zhejiang Univ, Dept Syst Sci & Engn, Hangzhou 310027, Zhejiang, Peoples R China
来源：
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年
关键词：
D O I：
10.1109/ACC.2009.5160617
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 paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots. Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target with equal angular distance between each other.
引用
收藏
页码：2624 / 2629
页数：6
相关论文
共 19 条
  • [11] Klein DJ, 2007, P AMER CONTR CONF, P1980
  • [12] LAN Y, 2008, SCI CHINA F UNPUB
  • [13] Lin J, 2003, 42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, P1508
  • [14] Local control strategies for groups of mobile autonomous agents
    Lin, ZY
    Broucke, M
    Francis, B
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (04) : 622 - 629
  • [15] Formations of vehicles in cyclic pursuit
    Marshall, JA
    Broucke, ME
    Francis, BA
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (11) : 1963 - 1974
  • [16] Micaelli A., 1993, TRAJECTORY TRACKING
  • [17] Consensus and cooperation in networked multi-agent systems
    Olfati-Saber, Reza
    Fax, J. Alex
    Murray, Richard M.
    [J]. PROCEEDINGS OF THE IEEE, 2007, 95 (01) : 215 - 233
  • [18] Skrzypczyk K, 2004, ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, P91
  • [19] Leader-to-formation stability
    Tanner, HG
    Pappas, GJ
    Kumar, V
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (03): : 443 - 455
12