文献类型： 会议论文
第一作者： D. Kucherov
作者： D. Kucherov 1 ; A. Kozub 2 ; O. Kostyna 3 ;
作者机构： 1.Computerized Control System, National Aviation University, Kyiv, Ukraine
2.Usage of Space Systems and GIS Software Department, National University of Defence of Ukraine, Kyiv, Ukraine
3.Central Research Institute of Armament and Military Equipment of Armed Forces of Ukraine, Kyiv, Ukraine
关键词： Mathematical model;Dynamics;Vehicle dynamics;Acceleration;Navigation;Motion control;Interference
会议名称： International Conference on Methods and Systems of Navigation and Motion Control
主办单位：
页码： 51-54
摘要： The article deals with the problem of controlling the multi-agent system that consists of n UAVs moving in environment with obstacles. One of UAVs is an agent-leader and the others are agent-members. Behavior of an agents group in dynamic environment is considered as aggregation. This task supposes describing UAVs group movement as integrator of the second order, and each agent has information about others. Bypass obstacles and avoidance of collision is the main problem of this paper. Therefore we are considering movement of agents group in potential field, which includes two components: attractive and repulsing. The movement law is only known for agent-leader and agent-members that follow him in potential field. Simulation demonstrates main result of proposed approach.
分类号： tp2-532
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