DocumentCode :
582577
Title :
Heading consensus with collision avoidance for a class of multi-vehicle systems
Author :
Yuan, Lijun ; Zhu, Jiandong ; Yang, Zhanmin
Author_Institution :
Sch. of Math. Sci., Nanjing Normal Univ., Nanjing, China
fYear :
2012
fDate :
25-27 July 2012
Firstpage :
6010
Lastpage :
6014
Abstract :
This paper investigates the problem of heading consensus with collision avoidance for a class of multi-vehicle systems under the switching topology determined by the dynamical graph. A linear second-order consensus protocol solving the problem is proposed. It is revealed that, given any initial condition, there always exist feedback gains to realize the heading consensus without collision. Finally, simulations are given to illustrate the effectiveness of the proposed protocol.
Keywords :
collision avoidance; graph theory; multi-robot systems; protocols; vehicles; collision avoidance; dynamical graph; feedback gains; heading consensus; linear second-order consensus protocol; multivehicle systems; switching topology; Collision avoidance; Mathematical model; Multiagent systems; Protocols; Switches; Topology; Vehicles; Collision avoidance; Heading consensus; Multi-vehicle systems; The second-order protocol;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
ISSN :
1934-1768
Print_ISBN :
978-1-4673-2581-3
Type :
conf
Filename :
6390995
Link To Document :
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