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
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