Circle Formation Control of Large-Scale Intelligent Swarm Systems in a Distributed Fashion

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	Circle Formation Control of Large-Scale Intelligent Swarm Systems in a Distributed Fashion
	Xue, Zhibin; Zeng, Jianchao
	2009
关键词	Large-scale swarm system Numerical simulation Formation control Distributed control
卷号	5552
页码	1105-1115
英文摘要	The circle formation is a good starting point for many symetric formations like an approximation of a circle, a simple polygon, or a line segment etc in the plane. A distributed manner is presented to fullfill the coordinated task of N mobile agents swarm (which could be swarm robotics, unmanned air/ocean vehicles namely UAV, satellites, mobile sensors, aircraft and spacecraft, etc.) being forced to achieved a circle formation while avoiding collision between themselves. The control development method is based oil artificial potential function namely APF and Newton-Raphson iteration. Finally, the performance of the method is examined by numerical simulations, the results further indicated that the individual members living in swarm during the course of coordinative motion call realize the stabilization of particular predefined a desired circle or a convex polygon formation.
会议录	ADVANCES IN NEURAL NETWORKS - ISNN 2009, PT 2, PROCEEDINGS
会议录出版者	SPRINGER-VERLAG BERLIN
会议录出版地	HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
语种	英语
WOS研究方向	Computer Science
WOS记录号	WOS:000268028700125
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/37852]
专题	兰州理工大学电气工程与信息工程学院
通讯作者	Xue, Zhibin
作者单位	Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Xue, Zhibin,Zeng, Jianchao. Circle Formation Control of Large-Scale Intelligent Swarm Systems in a Distributed Fashion[C]. 见:.