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- Title
Quantized flocking control for second-order multiple agents with obstacle avoidance.
- Authors
Li, Chunguang; Tao, Chongben; Liu, Guodong; Xie, Guangqian
- Abstract
A quantized flocking control for a group of second-order multiple agents with obstacle avoidance is proposed to address the problem of the exchange of information needed for quantification. With a reasonable assumption, a logarithmic or uniform quantizer is used for the exchange of relative position and velocity information between adjacent agents and the virtual leader, moving at a steady speed along a straight line, and a distributed flocking algorithm with obstacle avoidance capability is designed based on the quantitative information. The Lyapunov stability criterion of nonsmooth systems and the invariance principle are used to prove the stability of these systems. The simulations and experiments are presented to demonstrate the feasibility and effectiveness of the proposed approach.
- Subjects
INFORMATION sharing; OBSTACLE avoidance (Robotics); LYAPUNOV stability; PRINCIPLE of relativity (Physics); ALGORITHMS
- Publication
Advances in Mechanical Engineering (Sage Publications Inc.), 2016, Vol 8, Issue 1, p1
- ISSN
1687-8132
- Publication type
Article
- DOI
10.1177/1687814015624646