Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies

doi:10.1109/ICMTMA.2009.559

CORC > 兰州理工大学 > 兰州理工大学

	Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies
	Xue, Zhibin; Zeng, Jianchao
	2009
关键词	formation control numerical simulations UAV swarm robotics APF Newton-Raphson iteration multi-agent systems coordinative motion geometrical configuration formations collision-free stabilization swarm dynamical methodologies
DOI	10.1109/ICMTMA.2009.559
页码	477-482
英文摘要	Formation of geometric shapes with autonomous unmanned mobile agents (which could be ground, undersea, aerial vehicles namely UAV/robots mobile sensors etc.) is a particular type of the coordination problem. Meanwhile, this is due to broad range of application of multi-agent systems in a lot of project fields in recent years, the coordinated task of multi-agent is currently an important and challenging field of research. By use of the swarm dynamical model, based on artificial potential field (APF) function and Newton-Raphson iteration method, we analyze the special form of swarm aggregation routes of a particular predefined geometrical configuration that is defined by a set of desired inter-agent distance values in this paper. We also perform numerical simulations to examine the performance of the method, the results further indicated that the individual members living in group during the course of coordinative motion can realize the local collision-free the stabilization of particular predefined geometrical configuration formations.
会议录	2009 INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION, VOL I
会议录出版者	IEEE COMPUTER SOC
会议录出版地	10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS记录号	WOS:000274895600117
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/37747]
专题	兰州理工大学电气工程与信息工程学院
通讯作者	Xue, Zhibin
作者单位	Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Xue, Zhibin,Zeng, Jianchao. Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies[C]. 见:.