Generation of minimally persistent circle formation for a multi-agent system |
| |
| Authors: | Luo Xiao-Yuan Shao Shi-Kai Zhang Yu-Yan Li Shao-Bao Guan Xin-Ping Liu Zhi-Xin |
| |
| Affiliation: | a School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;b Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China |
| |
| Abstract: | In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader’s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n-3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods. |
| |
| Keywords: | multiagent system formation control minimally persistent graph numbering strategy |
| 本文献已被 CNKI 维普 等数据库收录！ |
| 点击此处可从《中国物理 B》浏览原始摘要信息 |
|
点击此处可从《中国物理 B》下载免费的PDF全文 |
|
