Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

PAN Zini, CHEN Ben M.

系统科学与复杂性(英文) ›› 2024, Vol. 37 ›› Issue (1) : 136-151.

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系统科学与复杂性(英文) ›› 2024, Vol. 37 ›› Issue (1) : 136-151. DOI: 10.1007/s11424-024-3428-1

Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

    PAN Zini, CHEN Ben M.
作者信息 +

Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

    PAN Zini, CHEN Ben M.
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摘要

In this paper, the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general trajectory. Without using the velocity of the vehicles, a position feedback control law is proposed to fence the general target into the convex hull formed by the vehicles. Specifically, the dynamics of each vehicle is described by a double-integrator system. Two potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the vehicles. The proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of time. The effectiveness of the result is verified by a numerical example.

Abstract

In this paper, the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general trajectory. Without using the velocity of the vehicles, a position feedback control law is proposed to fence the general target into the convex hull formed by the vehicles. Specifically, the dynamics of each vehicle is described by a double-integrator system. Two potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the vehicles. The proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of time. The effectiveness of the result is verified by a numerical example.

关键词

Multi-agent systems / networked systems / target fencing

Key words

Multi-agent systems / networked systems / target fencing

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PAN Zini , CHEN Ben M.. Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance. 系统科学与复杂性(英文), 2024, 37(1): 136-151 https://doi.org/10.1007/s11424-024-3428-1
PAN Zini , CHEN Ben M.. Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance. Journal of Systems Science and Complexity, 2024, 37(1): 136-151 https://doi.org/10.1007/s11424-024-3428-1

参考文献

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基金

This research was supported in part by the Research Grants Council of Hong Kong SAR under Grant Nos. 14206821 and 14217922, and in part by the Hong Kong Centre For Logistics Robotics (HKCLR).
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