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Title: A New Navigation Function Based Decentralized Control of Multi-Vehicle Systems in Unknown Environments
Authors: Wang, Yuanzhe
Wang, Danwei
Zhu, Senqiang
Keywords: Multi-vehicle systems
Decentralized navigation function
Issue Date: 2016
Source: Wang, Y., Wang, D., & Zhu, S. A New Navigation Function Based Decentralized Control of Multi-Vehicle Systems in Unknown Environments. Journal of Intelligent & Robotic Systems, 1-15.
Series/Report no.: Journal of Intelligent & Robotic Systems
Abstract: This paper deals with navigation for a group of vehicles while avoiding collisions and ensuring global network connectivity in unknown environments using a new decentralized navigation function. It is pointed out that the traditional navigation function is not effective in the situation where vehicles work in a large environment. It is shown that in this situation velocity of the vehicle would be extremely small, which is not realistic in practical applications. This paper proposes a new decentralized navigation function with a novel goal function based on which a decentralized control law that is along the negative gradient of the decentralized navigation function is derived. Finally the proposed decentralized control law is applied in a multi-vehicle navigation scenario. Based on the properties of the proposed navigation function and dual Lyapunov theorem, a sufficient condition is derived for vehicles to converge to regions surrounding their corresponding goal positions in a collision-free and connectivity-keeping manner. Simulation results demonstrate the efficacy of the proposed method.
ISSN: 0921-0296
DOI: 10.1007/s10846-016-0450-0
Schools: School of Electrical and Electronic Engineering 
Rights: © 2016 Springer Science+Business Media. This is the author created version of a work that has been peer reviewed and accepted for publication by Journal of Intelligent & Robotic Systems, Springer Science+Business Media. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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