论文标题
可扩展的车辆团队连续变形协调与特征分解
Scalable Vehicle Team Continuum Deformation Coordination with Eigen Decomposition
论文作者
论文摘要
连续变形领导者 - 乘员合作控制策略策略模型多代理系统中的车辆作为可变形身体的颗粒。根据领导者的轨迹定义了所需的连续变形，并通过本地通信实时获得了追随者。现有的连续变形理论要求将追随者放置在由领导者定义的凸线中。在本文中，这种约束放松了。我们证明，在合适的假设下，可以选择形成N-D单纯形的任何（n+1）（n = 1,2,3）车辆作为领导者，而在领先单纯胶内任意定位的追随者可以以分散的方式获得所需的连续性变形。该论文的第二个贡献是在领导者的平滑轨迹和通过连续变形特征分解获得的均匀变形特征之间分配一对一的映射。因此，可以通过塑造均匀转换功能或选择适当的领导者轨迹来计划安全且平稳的连续变形协调。这对于有效计划和保证大规模群体中的避免碰撞的情况是有益的。报告了一个模拟案例研究，其中虚拟凸形单纯胶在任何时候都包含一个四轮驱动车辆团队。 A*搜索用于优化载有障碍物环境中的四轮驱动团队连续变形。
The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by followers in real-time through local communication. The existing continuum deformation theory requires followers to be placed inside the convex simplex defined by leaders. This constraint is relaxed in this paper. We prove that under suitable assumptions any (n+1)(n=1,2,3) vehicles forming an n-D simplex can be selected as leaders while followers, arbitrarily positioned inside or outside the leading simplex, can acquire a desired continuum deformation in a decentralized fashion. The paper's second contribution is to assign a one-to-one mapping between leaders' smooth trajectories and homogeneous deformation features obtained by continuum deformation eigen-decomposition. Therefore, a safe and smooth continuum deformation coordination can be planned either by shaping homogeneous transformation features or by choosing appropriate leader trajectories. This is beneficial to efficiently plan and guarantee inter-agent collision avoidance in a large-scale group. A simulation case study is reported in which a virtual convex simplex contains a quadcopter vehicle team at any time t; A* search is applied to optimize quadcopter team continuum deformation in an obstacle-laden environment.
