Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Decentralized Control of Multiple Agents for Optimizing Target Tracking Performance and Collision Avoidance

표적 추적 성능 최적화 및 충돌 회피를 위한 다수 에이전트 분산 제어

  • Kim, Youngjoo (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Bang, Hyochoong (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2016.04.18
  • Accepted : 2016.07.18
  • Published : 2016.09.01
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Abstract

A decentralized control method is proposed to enable a group of robots to achieve maximum performance in multisensory target tracking while avoiding collision with the target. The decentralized control was designed based on navigation function formalism. The study showed that the multiple agent system converged to the positions providing the maximum performance by the decentralized controller, based on Lyapunov and Hessian theory. An exemplary simulation was given for a multiple agent system tracking a stationary target.

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References

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