کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
707533 1460981 2016 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Scalable multi-agent formation with bearing only measurement: Consensus based approach
ترجمه فارسی عنوان
تشکیل چند عامل مقیاس پذیر با اندازه گیری تنها تحمل: رویکرد مبتنی بر انضباط
کلمات کلیدی
سیستم های چندگانه، پیگیری چرخه، شکل گیری دایره ای متعادل، ردیابی هدف، تحمل تنها اندازه گیری
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی

Target centric deviated cyclic pursuit is a variant of the deviated cyclic pursuit strategy designed to track a target. Deviated cyclic pursuit has more flexibility as compared to the classical cyclic pursuit laws. In this work, we obtain a scalable formation of the UAVs around the target. The formation is scaled in a decentralized manner by changing a parameter of any of the vehicles. The strategy uses only bearing angle information of the target and the neighbours. We carried out the analysis assuming simple kinematic model for each vehicle. At equilibrium, the vehicles get into a rigid polygonal formation which rotates around the target. The size of the polygon is scalable. We analysed the local stability of equilibrium formations. Simulation results are presented to demonstrate effectiveness of the proposed strategy. The strategy is applied to miniature areal vehicles (MAV) represented by 6-DOF dynamics in a hardware in-loop simulator, which includes all on-board electronics of the MAVs.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: European Journal of Control - Volume 27, January 2016, Pages 28–35
نویسندگان
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