کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10226064 | 1701241 | 2018 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Optimal formation control and collision avoidance in environment with multiple rectangle obstacles
ترجمه فارسی عنوان
کنترل شکل گیری بهینه و اجتناب از برخورد در محیط با موانع چند مستطیلی
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
چکیده انگلیسی
This paper addresses formation control problem with collision avoidance for general linear multi-agent systems via an optimal control strategy. In the proposed optimal control strategy, a novel potential function is designed to accomplish formation of multi-agent systems (MASs) with obstacle/collision avoidance capability, which can avoid rectangle obstacles accurately. In this potential function, a novel relative velocity based self-adaptive detection region is proposed to avoid collisions with adjacent agents. Moreover, a non-quadratic avoidance performance index is constructed based on inverse optimal control approach. Then, the optimal control strategy is designed to guarantee the asymptotic stability of the closed-loop system and optimality of the proposed performance index. Finally, a simulation example is given to illustrate the efficiency of the proposed approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 355, Issue 15, October 2018, Pages 7626-7642
Journal: Journal of the Franklin Institute - Volume 355, Issue 15, October 2018, Pages 7626-7642
نویسندگان
Shi Zhengqing, He Junda, Wang Tengli, Zhou Chuan, Jian Guo,