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سی و سومین کنفرانس بین المللی مهندسی برق
Source Seeking Via Circular Formation of n-Nonholonomic Agents in a 2-D Environment
نویسندگان :
Milad Ghane
1
Mohsen Mojiri
2
Mohammad Ali Ghadiri-Modarres
3
Elaheh Zadhoosh
4
1- دانشگاه صنعتی اصفهان
2- دانشگاه صنعتی اصفهان
3- دانشگاه صنعتی اراک
4- دانشگاه صنعتی اصفهان
کلمات کلیدی :
Source seeking،Multi-agent،Circular formation،Averaging and singular perturbations،Bounded velocity
چکیده :
We consider the problem of directing n-nonholonomic agents to seek a source in two dimensional environments. A new scheme for tunning the angular velocity of the agents is proposed. The modified control scheme guarantees that the agents converge to a neighborhood of a source from different initial positions. At the steady state, form a circular formation with the same angular distance from each other and start to rotate around the source. During this process, all of the agents have bounded forward and angular velocities. A stability analysis of the scheme is carried out using the local averaging and singular perturbation theory and its performance is illustrated through carefully studied simulation examples.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 44.7.2
