A cooperative target-fencing protocol of multiple vehicles

被引：37
作者：
Chen, Zhiyong [1 ]
机构：
[1] Univ Newcastle, Sch Elect Engn & Comp, Callaghan, NSW 2308, Australia
来源：
AUTOMATICA | 2019年 / 107卷
基金：
中国国家自然科学基金;
关键词：
Autonomous vehicles; Networks; Multi-agent systems; Formation control; Collision avoidance; COLLECTIVE CIRCULAR MOTION; MULTIAGENT;
D O I：
10.1016/j.automatica.2019.05.034
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A class of cooperative controllers is designed for a group of autonomous vehicles, using the relative positions between geographical neighbors and a specified target. The controller is equipped with three components: attractive component that drives each vehicle towards the target, repulsive component between adjacent vehicles, and rotation component for neighbored vehicles aligned with the target in a straight line. It is proved that the vehicles with the proposed autonomous controller can asymptotically fence a specified target to their convex hull. Meanwhile, the vehicles do not collide and they are not stuck in a singleton formation. (C) 2019 Elsevier Ltd. All rights reserved.
引用
收藏
页码：591 / 594
页数：4
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