Formations of vehicles in cyclic pursuit

被引：480
作者：
Marshall, JA [1 ]
Broucke, ME [1 ]
Francis, BA [1 ]
机构：
[1] Univ Toronto, Dept Elect & Comp Engn, Syst Control Grp, Toronto, ON M5S 3G4, Canada
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2004年 / 49卷 / 11期
基金：
加拿大自然科学与工程研究理事会;
关键词：
circulant matrices; cooperative control; multiagent systems; pursuit problems;
D O I：
10.1109/TAC.2004.837589
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Inspired by the so-called "bugs" problem from mathematics, we study the geometric formations of multivehicle systems under cyclic pursuit. First, we introduce the notion of cyclic pursuit by examining a system of identical linear agents in the plane. This idea is then extended to a system of wheeled vehicles, each subject to a single nonholonomic constraint (i.e., unicycles), which is the principal focus of this paper. The pursuit framework is particularly simple in that the n identical vehicles are ordered such that vehicle i pursues vehicle i + 1 modulo n. In this paper, we assume each vehicle has the same constant forward speed. We show that the system's equilibrium formations are generalized regular polygons and it is exposed how the multivehicle system's global behavior can be shaped through appropriate controller gain assignments. We then study the local stability of these equilibrium polygons, revealing which formations are stable and which are not.
引用
收藏
页码：1963 / 1974
页数：12
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