In considering the problem of formation control in the deployment of intelligent munitions, it would be highly desirable, both from a mission and a cost perspective, to limit the information that is transmitted between vehicles in formation. In a previous paper, we proposed an adaptive output feedback approach to address this problem. Adaptive formation controllers were designed that allow each vehicle in formation to maintain separation and relative orientation with respect to neighboring vehicles, while avoiding obstacles. In this paper, we consider a modification to the adaptive control law that enables each vehicle in a leader-follower formation to track line-of-sight (LOS) range with respect to two or more neighboring vehicles with zero steady-state error. We also propose a coordination scheme in which each vehicle tracks LOS range to up to two nearest vehicles while simultaneously navigating towards a common set of waypoints. This coordination scheme does not require a unique leader for the formation, increasing robustness of the formation. As our results show, such leaderless formations can perform maneuvers like splitting to go around obstacles, rejoining after negotiating the obstacles, and changing into line- shaped formation in order to move through narrow corridors.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Vision-Based Approach to Decentralized Formation Control


    Beteiligte:
    R. Sattigeri (Autor:in) / A. J. Calise (Autor:in) / J. H. Evers (Autor:in)

    Erscheinungsdatum :

    2004


    Format / Umfang :

    25 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    An Adaptive Vision-Based Approach to Decentralized Formation Control

    Ramachandra Sattigeri / Anthony Calise / Johnny Evers | AIAA | 2004


    An Adaptive Vision-based Approach to Decentralized Formation Control

    Sattigeri, Ramachandra / Calise, Anthony / Evers, Johnny | AIAA | 2004


    AIAA-2004-5252 An Adaptive Vision-based Approach to Decentralized Formation Control

    Sattigeri, R. / Calise, A. / Evers, J. | British Library Conference Proceedings | 2004


    An Adaptive Approach to Vision-based Formation Control

    Sattigeri, Ramachandra / Calise, Anthony / Evers, Johnny | AIAA | 2003


    NEURAL-NETWORK ADAPTIVE DECENTRALIZED FORMATION CONTROL

    Cervantes, T. / Kim, Y. / Kim, B. | British Library Conference Proceedings | 2022