A New Navigation Function Based Decentralized Control of Multi-Vehicle Systems in Unknown Environments
This paper deals with navigation for a group of vehicles while avoiding collisions and ensuring global network connectivity in unknown environments using a new decentralized navigation function. It is pointed out that the traditional navigation function is not effective in the situation where vehicl...
محفوظ في:
| المؤلفون الرئيسيون: | , , |
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| مؤلفون آخرون: | |
| التنسيق: | مقال |
| اللغة: | English |
| منشور في: |
2017
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://hdl.handle.net/10356/83708 http://hdl.handle.net/10220/42746 |
| الوسوم: |
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| الملخص: | This paper deals with navigation for a group of vehicles while avoiding collisions and ensuring global network connectivity in unknown environments using a new decentralized navigation function. It is pointed out that the traditional navigation function is not effective in the situation where vehicles work in a large environment. It is shown that in this situation velocity of the vehicle would be extremely small, which is not realistic in practical applications. This paper proposes a new decentralized navigation function with a novel goal function based on which a decentralized control law that is along the negative gradient of the decentralized navigation function is derived. Finally the proposed decentralized control law is applied in a multi-vehicle navigation scenario. Based on the properties of the proposed navigation function and dual Lyapunov theorem, a sufficient condition is derived for vehicles to converge to regions surrounding their corresponding goal positions in a collision-free and connectivity-keeping manner. Simulation results demonstrate the efficacy of the proposed method. |
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