Decentralized cooperative control of heterogeneous vehicle groups

被引：78

作者：

Tanner, H. G. ^{[1
]}

Christodoulakis, D. K. ^{[1
]}

机构：

[1] Univ New Mexico, Dept Mech Engn, Albuquerque, NM 87131 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 11期

基金：

美国国家科学基金会;

关键词：

cooperative control; agents and autonomous systems; autonomous robots;

D O I：

10.1016/j.robot.2007.05.015

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We coordinate in discrete time the interaction of two heterogeneous groups of mobile agents: a group of ground vehicles (UGvs) and a group of aerial vehicles (UAVs). The ground agents interact with each other through time-invariant, nearest-neighbour rules. They synchronize their velocities through a specific Communication protocol, and maintain cohesion and separation behaviour by means of interagent potential forces. Ground vehicles estimate their formation's centroid using only locally available delayed information. That same information is transmitted to the aerial group, which orbits above the ground formation's centroid, while avoiding midair collisions. Stability of the ground group motion is established in a Lyapunov framework. A Lyapunov analysis is also used to ensure that UAVS track the ground group's centroid. (c) 2007 Elsevier B.V. All rights reserved.

引用

页码：811 / 823

页数：13

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