Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies
Formation of geometric shapes with autonomous unmanned mobile agents (which could be ground, undersea, aerial vehicles namely UAV/robots, mobile sensors etc.) is a particular type of the coordination problem. Meanwhile, this is due to broad range of application of multi-agent systems in a lot of project fields in recent years, the coordinated task of multi-agent is currently an important and challenging field of research. By use of the swarm dynamical model, based on artificial potential field (APF) function and NewtonRaphson iteration method, we analyze the special form of swarm aggregation routes of a particular predefined geometrical configuration that is defined by a set of desired inter-agent distance values in this paper. We also perform numerical simulations to examine the performance of the method, the results further indicated that the individual members riving in group during the course of coordinative motion can realize the local collision-free the stabilization of particular predefined geometrical configuration formations.
formation control numerical simulations UAV swarm robotics APF Newton-Raphson iteration multi-agent systems coordinative motion geometrical configuration formations collision-free stabilization swarm dynamical methodologies
Zhibin Xue Jianchao Zeng
College of Electric & Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China; College of Electric & Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China;
国际会议
长沙
英文
477-482
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）