This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays.To minimize the number of communication...This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays.To minimize the number of communication links,a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s information.In contrast to existing works,we propose a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously.A new framework based on the admissible upper bound of the formation error is established so that both connectivity maintenance and order preservation can be achieved at the same time.It is shown that the multi-agent system can be driven to the desired circular formation as time goes to infinity under the proposed controller.Finally,the effectiveness of the proposed method is illustrated by some simulation examples.展开更多
With the development of sensor fusion technologies, there has been a lot of research on intelligent ground vehicles, where obstacle detection is one of the key aspects of vehicle driving. Obstacle detection is a compl...With the development of sensor fusion technologies, there has been a lot of research on intelligent ground vehicles, where obstacle detection is one of the key aspects of vehicle driving. Obstacle detection is a complicated task, which involves the diversity of obstacles, sensor characteristics, and environmental conditions. While the on-road driver assistance system or autonomous driving system has been well researched, the methods developed for the structured road of city scenes may fail in an off-road environment because of its uncertainty and diversity.A single type of sensor finds it hard to satisfy the needs of obstacle detection because of the sensing limitations in range, signal features, and working conditions of detection, and this motivates researchers and engineers to develop multi-sensor fusion and system integration methodology. This survey aims at summarizing the main considerations for the onboard multi-sensor configuration of intelligent ground vehicles in the off-road environments and providing users with a guideline for selecting sensors based on their performance requirements and application environments.State-of-the-art multi-sensor fusion methods and system prototypes are reviewed and associated to the corresponding heterogeneous sensor configurations. Finally, emerging technologies and challenges are discussed for future study.展开更多
基金supported in part by the National Natural Science Foundation of China(61773327,62273182)the Research Grants Council of the Hong Kong Special Administrative Region of China(CityU/11217619)the Fundamental Research Funds for the Central Universities(30921011213)。
文摘This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays.To minimize the number of communication links,a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s information.In contrast to existing works,we propose a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously.A new framework based on the admissible upper bound of the formation error is established so that both connectivity maintenance and order preservation can be achieved at the same time.It is shown that the multi-agent system can be driven to the desired circular formation as time goes to infinity under the proposed controller.Finally,the effectiveness of the proposed method is illustrated by some simulation examples.
基金Project supported by the National Natural Science Foundation of China(Nos.61603303,61803309,and 61703343)the Natural Science Foundation of Shaanxi Province,China(No.2018JQ6070)+1 种基金the China Postdoctoral Science Foundation(No.2018M633574)the Fundamental Research Funds for the Central Universities,China(Nos.3102019ZDHKY02 and3102018JCC003)。
文摘With the development of sensor fusion technologies, there has been a lot of research on intelligent ground vehicles, where obstacle detection is one of the key aspects of vehicle driving. Obstacle detection is a complicated task, which involves the diversity of obstacles, sensor characteristics, and environmental conditions. While the on-road driver assistance system or autonomous driving system has been well researched, the methods developed for the structured road of city scenes may fail in an off-road environment because of its uncertainty and diversity.A single type of sensor finds it hard to satisfy the needs of obstacle detection because of the sensing limitations in range, signal features, and working conditions of detection, and this motivates researchers and engineers to develop multi-sensor fusion and system integration methodology. This survey aims at summarizing the main considerations for the onboard multi-sensor configuration of intelligent ground vehicles in the off-road environments and providing users with a guideline for selecting sensors based on their performance requirements and application environments.State-of-the-art multi-sensor fusion methods and system prototypes are reviewed and associated to the corresponding heterogeneous sensor configurations. Finally, emerging technologies and challenges are discussed for future study.