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Virtual structure based target-enclosing strategies for nonholonomic agents
http://hdl.handle.net/2297/12038
http://hdl.handle.net/2297/12038ecf33b86-5675-4d4b-91a7-7abdde75f84f
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-NAMERIKAWA-T-1043.pdf (476.4 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
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| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Virtual structure based target-enclosing strategies for nonholonomic agents | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Kawakami, Hiroki
× Kawakami, Hiroki× Namerikawa, Toru |
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| 書誌情報 |
Proceedings of the IEEE International Conference on Control Applications p. 1043-1048, 発行日 2008-01-01 |
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| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/CCA.2008.4629702 | |||||
| 出版者 | ||||||
| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this paper, we discuss a target-enclosing problem for a group of multiple nonholonomic agents in a plane. The proposed strategies guarantee that multiple agents' coordination finally results in a circular formation enclosing the targe-to-bject which moves in the plane. Firstly, virtual agents for the feedback linearization of the real nonholonomic agents are introduced. Secondly, we propose the target-enclosing control laws based on the consensus algorithm to the virtual agents. Algebraic graph theory and consensus algorithm are employed to prove convergence and stability of the enclosing problem. Finally, experiments are provided to demonstrate the effectiveness of the proposed control laws. ©2008 IEEE. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| シリーズ | ||||||
| 関連名称 | 4629702 | |||||
