| 基于势函数的护卫队形控制 |
| |
| 引用本文： | 宋艳荣,王兴平,张术东,姚立强.基于势函数的护卫队形控制[J].海军航空工程学院学报,2011,26(6):622-627. |
| |
| 作者姓名： | 宋艳荣 王兴平 张术东 姚立强 |
| |
| 作者单位： | 海军航空工程学院基础部,山东烟台,264001 |
| |
| 基金项目： | 海军航空工程学院基础研究基金资助项目 |
| |
| 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。
|
| 关 键 词： | 队形控制 护卫队形 避碰 人工势场法 |
Safeguarded Formation Control Via the Artificial Potential Method |
| |
| SONG Yan-rong,WANG Xing-ping,ZHANG Shu-dong and YAO Li-qiang.Safeguarded Formation Control Via the Artificial Potential Method[J].Journal of Naval Aeronautical Engineering Institute,2011,26(6):622-627. |
| |
| Authors: | SONG Yan-rong WANG Xing-ping ZHANG Shu-dong and YAO Li-qiang |
| |
| Institution: | (Department of Basic Sciences, NAAU, Yantai Shandong 264001 ) |
| |
| Abstract: | 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. |
| |
| Keywords: | formation control safeguarded formation collision-avoidance artificial potential field |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《海军航空工程学院学报》浏览原始摘要信息 |
| 点击此处可从《海军航空工程学院学报》下载免费的PDF全文 |
