Decentralized Formation Control including Collision Avoidance by using Set Invariance Theory

Nopthawat Kitudomrat; Takeshi Hatanaka; Masayuki Fujita

doi:10.11511/jacc.50.0.118.0

Proceedings of the 50th Japan Joint Automatic Control Conference

セッションID: 405

DOI https://doi.org/10.11511/jacc.50.0.118.0

会議情報

主催: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

共催: Technically Cosponsored by 42 Societies and Institutes

ＯＳ１７　協調とフォーメーション

Decentralized Formation Control including Collision Avoidance by using Set Invariance Theory

*Nopthawat Kitudomrat, Takeshi Hatanaka, Masayuki Fujita

著者情報

会議録・要旨集フリー

詳細

抄録

This paper tackles a decentralized formation control problem including collision avoidance by using set invariance theory. We first derive a necessary and sufficient condition for the collision avoidance based on the set invariance theory. Then, we present the algorithm to find an appropriate input for the reference governor controller (RG). We show how to create the constraints to describe the agent behavior and satisfy the collision avoidance. Finally, the RHC method is applied to optimize the performance index.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）