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Motion information based avoidance control for 3-D multi-agent systems
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DOI：10.1016/j.jfranklin.2021.10.015.png)
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摘要
En 中文
This paper presents a closed-form cooperative avoidance control design for 3-dimensional rigid-body agents. New avoidance functions are designed to integrate the collision risk with the addition of motion and posture information. Time-varying sensing regions enable the conflict resolution actions only when there is a potential risk of collision, thus further reducing some unnecessary interference with other objectives. These characteristics lead to the less-conservative avoidance response, smoother maneuvers, and milder motion trajectories. The stability of the proposed method is analyzed and the corresponding proofs and guaranties for collision-free maneuvering, are provided. Performance comparisons are presented for two simulation scenarios, which illustrate the effectiveness and reliability of the new method. (C) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Keyword:
COLLISION-AVOIDANCE
DYNAMIC ENVIRONMENTS
OBSTACLE AVOIDANCE
MPC
ROBUST
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期刊
J
IF:
3.7
论文数:
6.4K
被引数:
1.5W
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