Balanced Circular Formation Control Based on Gossip Communication and Angle of Arrival Information

摘要：

The paper studies the problem of stabilizing a group of anonymous agents into a balanced circular formation, for which the agents are evenly spaced on a circular trajectory and the geometric center of the agents is.xed. A novel control algorithm is proposed utilizing only angle of arrival information (bearing). We consider the scenario of gossip communications: at every piece of time interval a randomly chosen pair of agents communicates so that both can measure the angle of arrival (AoA) and exchange the AoA information each other. The effectiveness of the control algorithm is demonstrated via simulation results.

作者: GUO Jing YAN Gangfeng LIN Zhiyun

作者单位: Asus Intelligent Systems Lab, College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027 P.R.China.

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-6

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）