A feedback stabilization and collision avoidance scheme for multiple independent non-point agents

被引：195

作者：

Dimarogonas, DV

Loizou, SG

Kyriakopoulos, KJ

Zavlanos, MM

机构：

[1] Natl Tech Univ Athens, Control Syst Lab, Zografos 15780, Greece

[2] Univ Penn, Philadelphia, PA 19104 USA

来源：

AUTOMATICA | 2006年 / 42卷 / 02期

关键词：

decentralized control; autonomous systems; motion planning;

D O I：

10.1016/j.automatica.2005.09.019

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 navigation functions' based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties are verified through simulations. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：229 / 243

页数：15

共 20 条

[1] On Optimal Cooperative Conflict Resolution for Air Traffic Management Systems [J].