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Energy-efficient environmentally adaptive consensus-based formation control with collision avoidance for multi-vehicle systems


Babić, Anja; Lončar, Ivan; Mišković, Nikola; Vukić, Zoran
Energy-efficient environmentally adaptive consensus-based formation control with collision avoidance for multi-vehicle systems // Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid (ur.).
Trondheim, Norveška: IFAC Proceedings Volumes (IFAC-PapersOnline), 2016. str. 361-366 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Energy-efficient environmentally adaptive consensus-based formation control with collision avoidance for multi-vehicle systems

Autori
Babić, Anja ; Lončar, Ivan ; Mišković, Nikola ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid - : IFAC Proceedings Volumes (IFAC-PapersOnline), 2016, 361-366

Skup
10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)

Mjesto i datum
Trondheim, Norveška, 13-16.09.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Consensus ; cooperative control ; formation keeping ; multi-vehicle system

Sažetak
Technological advances over the past several decades have made it possible to develop increasingly cheap but also increasingly capable and autonomous unmanned marine vehicles. Additionally, this makes cooperative approaches to problem-solving a viable strategy in marine applications. This paper takes a look at a control scenario featuring a system consisting of a number of floating robotic platforms designed with long-term functioning in a challenging environment in mind. Decentralised consensus strategies for formation generation and formation keeping are described, with an introduction of modifications such as virtual forces that ensure collision avoidance. The group of vehicles is then placed in a simulated environment and subjected to environmental disturbances in the form of water current. An additional adaptive algorithm is proposed and implemented in the simulation, allowing the vehicles to assume a formation relative to the measured water current that ensures greater energy efficiency by having the vehicles physically shield each other from the current's detrimental effects. Finally, the simulation results are discussed and some directions for further work are suggested.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Časopis indeksira:


  • Scopus