TY - GEN
T1 - Relation-Invariable Persistent Formation Control with Collision Avoidance and Connectivity Preservation
AU - Yu, Dengxiu
AU - Philip Chen, C. L.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, relation-invariable persistent formation (RIPF) control with collision avoidance and connectivity preservation is presented. RIPF can construct an optimal formation of least edges when agents in formation can only receive range information. And this formation requires less communication and computation. It has not been studied how to drive the agents to their desired position in RIPF control while avoid collision and preserve connectivity. Three goals for RIPF are as follows: formation shape maintenances, collision avoidance (obstacle-collision avoidance, and interagent-collision avoidance), and connectivity preservation. To realize the control goals, a novel potential function is designed. The simulation results show that our control law is efficient.
AB - In this paper, relation-invariable persistent formation (RIPF) control with collision avoidance and connectivity preservation is presented. RIPF can construct an optimal formation of least edges when agents in formation can only receive range information. And this formation requires less communication and computation. It has not been studied how to drive the agents to their desired position in RIPF control while avoid collision and preserve connectivity. Three goals for RIPF are as follows: formation shape maintenances, collision avoidance (obstacle-collision avoidance, and interagent-collision avoidance), and connectivity preservation. To realize the control goals, a novel potential function is designed. The simulation results show that our control law is efficient.
KW - collision avoidance
KW - connectivity preservation
KW - potential function
KW - Relation-invariable persistent formation
UR - https://www.scopus.com/pages/publications/85062790943
U2 - 10.1109/CAC.2018.8623090
DO - 10.1109/CAC.2018.8623090
M3 - 会议稿件
AN - SCOPUS:85062790943
T3 - Proceedings 2018 Chinese Automation Congress, CAC 2018
SP - 2803
EP - 2808
BT - Proceedings 2018 Chinese Automation Congress, CAC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Chinese Automation Congress, CAC 2018
Y2 - 30 November 2018 through 2 December 2018
ER -