Formation tracking of heterogeneous mobile agents using distance and area constraints (Q1674857)
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scientific article; zbMATH DE number 6798466
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| English | Formation tracking of heterogeneous mobile agents using distance and area constraints |
scientific article; zbMATH DE number 6798466 |
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Formation tracking of heterogeneous mobile agents using distance and area constraints (English)
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26 October 2017
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Summary: This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.
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formation tracking control
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single and double integrator agents
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distance-based potential functions
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0.791907787322998
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0.776424765586853
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0.7715834379196167
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0.7689052224159241
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