A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in...A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in this paper.The task planning diagram of this sys-tem is also briefly explained.A mechanism for multirobotic planning has been proposed.Two examples of traffic control system,i.e.two-robot coordinated pathfinding system withcollision-avoidance have been demonstrated.In order to avoid the collision,some controlstrategies are applied.The results of this planning system are valuable and helpful for plan-ning the multirohotic coordinated motion with collision-avoidance.展开更多
This paper is concerned with order-preserved preset-time cooperative control of multi-agent systems with directed graphs.A novel monotone system-based approach is proposed to preserve the initial order of agents while...This paper is concerned with order-preserved preset-time cooperative control of multi-agent systems with directed graphs.A novel monotone system-based approach is proposed to preserve the initial order of agents while guaranteeing the preset-time state agreement.Specifically,three different distributed controllers together with sufficient conditions are designed to realize leaderless consensus,leader-following consensus,and containment control,respectively.The proposed controllers facilitate preset-time deployment of agents in practical scenarios with collision avoidance requirement.Comparison studies through a numerical example are carried out to illustrate the effectiveness of the proposed controllers.展开更多
The process of formation reconfiguration for close-range satellite formation should take into account the risk of collisions between satellites.To this end,this paper presents a method to rapidly generate low-thrust c...The process of formation reconfiguration for close-range satellite formation should take into account the risk of collisions between satellites.To this end,this paper presents a method to rapidly generate low-thrust collision-avoidance trajectories in the formation reconfiguration using Finite Fourier Series(FFS).The FFS method can rapidly generate the collision-avoidance threedimensional trajectory.The results obtained by the FFS method are used as an initial guess in the Gauss Pseudospectral Method(GPM)solver to verify the applicability of the results.Compared with the GPM method,the FFS method needs very little computing time to obtain the results with very little difference in performance index.To verify the effectiveness,the proposed method is tested and validated by a formation control testbed.Three satellite simulators in the testbed are used to simulate two-dimensional satellite formation reconfiguration.The simulation and experimental results show that the FFS method can rapidly generate trajectories and effectively reduce the risk of collision between satellites.This fast trajectory generation method has great significance for on-line,constantly satellite formation reconfiguration.展开更多
文摘A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in this paper.The task planning diagram of this sys-tem is also briefly explained.A mechanism for multirobotic planning has been proposed.Two examples of traffic control system,i.e.two-robot coordinated pathfinding system withcollision-avoidance have been demonstrated.In order to avoid the collision,some controlstrategies are applied.The results of this planning system are valuable and helpful for plan-ning the multirohotic coordinated motion with collision-avoidance.
文摘This paper is concerned with order-preserved preset-time cooperative control of multi-agent systems with directed graphs.A novel monotone system-based approach is proposed to preserve the initial order of agents while guaranteeing the preset-time state agreement.Specifically,three different distributed controllers together with sufficient conditions are designed to realize leaderless consensus,leader-following consensus,and containment control,respectively.The proposed controllers facilitate preset-time deployment of agents in practical scenarios with collision avoidance requirement.Comparison studies through a numerical example are carried out to illustrate the effectiveness of the proposed controllers.
基金supported in part by the National Natural Science Foundation of China(Nos.11702072 and 11672093)。
文摘The process of formation reconfiguration for close-range satellite formation should take into account the risk of collisions between satellites.To this end,this paper presents a method to rapidly generate low-thrust collision-avoidance trajectories in the formation reconfiguration using Finite Fourier Series(FFS).The FFS method can rapidly generate the collision-avoidance threedimensional trajectory.The results obtained by the FFS method are used as an initial guess in the Gauss Pseudospectral Method(GPM)solver to verify the applicability of the results.Compared with the GPM method,the FFS method needs very little computing time to obtain the results with very little difference in performance index.To verify the effectiveness,the proposed method is tested and validated by a formation control testbed.Three satellite simulators in the testbed are used to simulate two-dimensional satellite formation reconfiguration.The simulation and experimental results show that the FFS method can rapidly generate trajectories and effectively reduce the risk of collision between satellites.This fast trajectory generation method has great significance for on-line,constantly satellite formation reconfiguration.
