摘要
利用Multi—agent理论研究一类位置一速度模型的护卫队形控制问题。研究的问题中同时考虑队形实现和过程避碰两个因素，基于势函数方法给出了控制器设计．在设计的控制器作用下，编队中的护卫者能按指定队形护卫被护卫者，并保证在运动过程中编队成员间不发生碰撞。
In this paper, a safeguarded formation control algorithm was proposed for a position-velocity safeguarded formation control system using multi-agent theory. In the study, based on artificial potential method, a distributed safeguarded formation control algorithm was presented. It was guaranteed that the system asymptotically converged to the pre-specified safeguarded formation on the effect of the control. And it could be proved that during achieving the objective, collisions among the members in the formation were avoided.
出处
《海军航空工程学院学报》
2011年第6期622-627,共6页
Journal of Naval Aeronautical and Astronautical University
基金
海军航空工程学院基础研究基金资助项目(HYJC2011)
关键词
队形控制
护卫队形
避碰
人工势场法
formation control
safeguarded formation
collision-avoidance
artificial potential field
