Abstract
This paper represents an extension of our previous work, on multiagent navigation to the case of decentralized control of multiple nonholonomic vehicles. Our main motivation comes from the field of air traffic management systems and from the field of micro robotic multiagent systems. A discontinuous feedback control scheme, based on dipolar navigation fields, is implemented and integrator backstepping is applied to suppress chattering behavior. The methodology has guaranteed global convergence and collision avoidance properties, which are verified by nontrivial computer simulations.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3012-3017 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 3 |
| State | Published - 2004 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering