지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2019.7
- 수록면
- 923 - 929 (7page)
- DOI
- 10.5370/KIEE.2019.68.7.923
이용수
초록· 키워드
오류제보하기
In the recent researches on multiple-agent systems, each agent is considered as a single point or covered by a circle or ellipse in which, in many circumstances, these agents were not fitted in such as triangular, rectangle and hexagon agents, etc. This paper puts forward a distributed control law for arbitrarily polygonal shape agents under limited communication ranges. The proposed control laws guarantee all flocking properties such as: each agent stays close to its nearby neighbors, no collisions between any agents and the convergence of each agent"s velocity to the desire. In addition, the control signal is differentiable despite of agent"s limited communication ranges and non- smooth boundary in the agent shape. The control law is designed base on a new approach on collision avoidance conditions between the polygonal shape agents to generate the desired control law. The numerical simulations are implemented to demonstrate the performing in the same shape group of agents using the proposed control law.
목차
Abstract
1. Introduction
2. Preliminaries
3. Problem statement
4. Control design
5. Simulation
6. Conclusion
References
참고문헌 (14)
참고문헌 신청
C. W. Reynolds / 1987 / Flocks, herds, and schools: “A distributed behavioral model,” / Proc. Comput. Graphics, ACM SIGGRAPH’87 Conf 21(4):2534
H. Levine / 2001 / Self-organization in systems of self-propelled particles / Phys. Rev. E 63:208211
R. Olfati-Saber / 2004 / Consensus problems in networks of agents with switching topology and time-delays / IEEE Trans. Autom. Control 49(9):15201533
R. Olfati-Saber / 2006 / Flocking for multi-agent dynamic systems : algorithms and theory / IEEE Trans. Autom. Control 51(3):401420
H. Su / 2009 / Flocking of multi-agents with a virtual leader / IEEE Trans. Autom. Control 54(2):293306
H. Levine / 2001 / Self-organization in systems of self-propelled particles / Phys. Rev. E 63:208211
R. Olfati-Saber / 2004 / Consensus problems in networks of agents with switching topology and time-delays / IEEE Trans. Autom. Control 49(9):15201533
R. Olfati-Saber / 2006 / Flocking for multi-agent dynamic systems : algorithms and theory / IEEE Trans. Autom. Control 51(3):401420
H. Su / 2009 / Flocking of multi-agents with a virtual leader / IEEE Trans. Autom. Control 54(2):293306
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UCI(KEPA) : I410-ECN-0101-2019-560-000886991