单轮多智能体系统中保持连通性的无碰撞轨迹跟踪

2013 American Control Conference Pub Date : 2013-06-17 DOI:10.1109/ACC.2013.6580680

Gökhan M. Atinç, D. Stipanović, P. Voulgaris, M. Karkoub

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引用次数: 24

摘要

本文研究了一组运动独轮车机器人的多目标控制问题。也就是说，我们考虑三个目标;轨迹跟踪，避碰和连接维护。通过将回避和连通性函数的梯度集成到智能体的期望方向中，使用lyapunov型分析，我们证明了智能体在有界误差的情况下跟踪参考轨迹，同时避免碰撞并保持连通性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems

In this paper we address a multi-objective control problem for a group of kinematic unicycle agents. Namely, we consider three objectives; trajectory tracking, collision avoidance, and connectivity maintenance. By integrating the gradients of the avoidance and connectivity functions into the desired orientations of agents, using Lyapunov-type analysis, we prove that agents track reference trajectories with bounded errors, while avoiding collisions and maintaining connectivity.

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2013 American Control Conference

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