TY - JOUR
T1 - Motion information based avoidance control for 3-D multi-agent systems
AU - Zhang, Wenxue
AU - Stipanović, Dušan M.
AU - Zhou, Di
N1 - This material is based on the work supported by the China Scholarship Council under grant No. 201806120062 , the National Natural Science Foundation of China under Grant No. NSFC61773142 , and the National Robotics Initiative grant titled “NRI: FND:COLLAB: Multi-Vehicle Systems for Collecting Shadow-Free Imagery in Precision Agriculture” (grant no.2019-04791/project accession no. 1020285) from the USDA National Institute of Food and Agriculture.
PY - 2021/12
Y1 - 2021/12
N2 - 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.
AB - 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.
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U2 - 10.1016/j.jfranklin.2021.10.015
DO - 10.1016/j.jfranklin.2021.10.015
M3 - Article
AN - SCOPUS:85118547026
SN - 0016-0032
VL - 358
SP - 9621
EP - 9652
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 18
ER -