Heading Consensus with Collision Avoidance for a Class of Multi-vehicle Systems

摘要：

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.

关键词： Heading consensus Multi-vehicle systems Collision avoidance The second-order protocol

作者: Lijun Yuan Jiandong Zhu Zhanmin Yang

作者单位: School of Mathematical Sciences, Nanjing Normal University, Nanjing 210046, China School of Electrical and Electronic Engineering, Nanjing Institute of Industry Technology, Nanjing 2

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 6010-6014

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）