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Two-agent connectivity maintenance and collision avoidance under two relationships
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DOI：10.1016/j.automatica.2024.111959.png)
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In this paper, we study a two-agent tracking problem with the connectivity maintenance and collision avoidance requirements (CM-CARs) under two relationships. One is the leader-follower relationship, where the leader just focuses on its tracking goal, but the follower still needs to ensure the CM- CARs for the leader. Since the feasible space of the follower is a nonconvex ring, it is inconvenient to search for a feasible control directly. Thus, we split the original nonconvex region and search for a convex one by a homeomorphism mapping. Under the leader-follower relationship, a control scheme is proposed for the follower in the original feasible region. It is transformed from a control protocol that ensures the follower satisfies the CM-CARs in the mapping convex region. The other is the colleague relationship, where two agents both need to satisfy the CM-CARs and their control strategies are interactive. Thus, we propose an optimization-based strategy to achieve the tracking mission for the two-agent system, which satisfies the CM-CARs. Finally, we provide some simulation results to verify the proposed strategies. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keyword:
CM-CARs
Leader-follower relationship
Colleague relationship
Homeomorphism mapping
期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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