Totally distributed motion control of sphere world multi-agent systems using Decentralized Navigation Functions

被引：16

作者：

Dimarogonas, Dimos V. ^{[1
]}

Kyriakopoulos, Kostas J. ^{[1
]}

Theodorakatos, Dimitris ^{[1
]}

机构：

[1] Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Athens 15780, Greece

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1642066

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 distributed feedback control architecture that guarantees collision avoidance and destination convergence for multiple sphere world holonomic agents is presented. The well established tool of Decentralized Navigation Functions is redefined to cope with the communication restrictions of the system. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for hybrid systems. The collision avoidance and goal convergence properties are verified through simulations. The key advantage of the proposed algorithm with respect to the previous ones is the significant decrease of computational load and its applicability to large scale groups.

引用

页码：2430 / +

页数：2