TY - GEN
T1 - Cooperative shadowing algorithm
T2 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
AU - Hou, Xiaolei
AU - Yu, Changbin
AU - Gu, Weidong
AU - Dong, Huomin
PY - 2010
Y1 - 2010
N2 - This paper aims to present the objectives and potential applications for the cooperative shadowing systems and the corresponding algorithms for the specific tasks. A definition of a cooperative shadowing system is given. The main objective of this system is still to maintain the desired formation. Differing from other cooperative formation tasks, a co-linear relative position configuration of agents is required to achieve the objective. Decentralized control strategies are preserved. Different characters of the agents are discussed and the relative controllers are developed for each agent character. A speed-only approach is proposed for the applications with agents having turning rate constraints. Relative bearing is the only parameter measured for control purposes. A series of tasks are designed and implemented for evaluating the performances of controllers. Simulation and experimental results are provided and analyzed for improvements and further developments.
AB - This paper aims to present the objectives and potential applications for the cooperative shadowing systems and the corresponding algorithms for the specific tasks. A definition of a cooperative shadowing system is given. The main objective of this system is still to maintain the desired formation. Differing from other cooperative formation tasks, a co-linear relative position configuration of agents is required to achieve the objective. Decentralized control strategies are preserved. Different characters of the agents are discussed and the relative controllers are developed for each agent character. A speed-only approach is proposed for the applications with agents having turning rate constraints. Relative bearing is the only parameter measured for control purposes. A series of tasks are designed and implemented for evaluating the performances of controllers. Simulation and experimental results are provided and analyzed for improvements and further developments.
UR - http://www.scopus.com/inward/record.url?scp=77957868211&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2010.5524353
DO - 10.1109/ICCA.2010.5524353
M3 - Conference contribution
SN - 9781424451951
T3 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
SP - 2104
EP - 2109
BT - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Y2 - 9 June 2010 through 11 June 2010
ER -