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

作　　者：PAN Zini CHEN Ben M 

机构地区：[1]Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong,China

出　　处：《Journal of Systems Science & Complexity》2024年第1期136-151,共16页系统科学与复杂性学报（英文版）

基　　金：supported in part by the Research Grants Council of Hong Kong SAR under Grant Nos.14206821 and 14217922;in part by the Hong Kong Centre For Logistics Robotics (HKCLR)

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.

关 键 词：Multi-agent systems networked systems target fencing 

分 类 号：U495[交通运输工程—交通运输规划与管理] TP273[交通运输工程—道路与铁道工程]