Результаты исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции › научная › Рецензирование
Multiple fully actuated mobile robots travel in a plane with upper-limited speeds and are driven by accelerations limited in magnitude. The robots should arrive at a pre-specified distance from an unpredictable speedy target, then maintain this distance and achieve an even self-distribution over the respective moving circle, along with a given angular velocity of rotation about the target. The robots do not communicate with anybody and are anonymous to one another; pre-assignment of different roles to various robots is impossible. Every robot measures only the relative position of the target and companion robots (within a finite range of 'visibility' in the latter case) and has access to the angular velocity of its own pure rotation; access to its own linear velocity may also be needed in some cases. Necessary conditions for the solvability of the mission are disclosed and a distributed control strategy is proposed. Its global convergence and collision avoidance property are rigor- ously proved under slight and partly unavoidable enhancement of the just mentioned necessary conditions. The performance of the control law is illustrated by computer simulations.
Язык оригинала | английский |
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Название основной публикации | 2018 European Control Conference, ECC 2018 |
Издатель | Institute of Electrical and Electronics Engineers Inc. |
Страницы | 1797-1802 |
Число страниц | 6 |
ISBN (электронное издание) | 9783952426982 |
DOI | |
Состояние | Опубликовано - 27 ноя 2018 |
Событие | 16th European Control Conference, ECC 2018 - Limassol, Кипр Продолжительность: 12 июн 2018 → 15 июн 2018 |
Название | 2018 European Control Conference, ECC 2018 |
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конференция | 16th European Control Conference, ECC 2018 |
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Страна/Tерритория | Кипр |
Город | Limassol |
Период | 12/06/18 → 15/06/18 |
ID: 99412363