Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

Mengbin Ye; Brian D. O. Anderson; Changbin Yu

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Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

机译：纯方位测量自我定位，速度共识和地层控制

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摘要

Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane and collects bearing-only measurements over a time interval to localize neighboring agents. The localization process is used by a three agent formation to achieve velocity consensus combined with formation shape control. Simulations are provided and noisy bearing measurements are investigated.

机译：当多特工队中的每个特工观察其邻居但不进行通信时，将考虑进行自定位和编队控制任务。每个代理都限于二维平面上的预定义运动类型，并在一个时间间隔内收集仅方位测量值以定位相邻代理。三剂地层使用定位过程来实现速度共识并结合地层形状控制。提供了仿真并研究了噪声轴承的测量。

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来源
《IEEE Transactions on Aerospace and Electronic Systems》 |2017年第2期|575-586|共12页
作者
Mengbin Ye; Brian D. O. Anderson; Changbin Yu;
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作者单位

Australian National University, Canberra, Australia;

Data61-CSIRO (formerly NICTA), Australian National University, Hangzhou Dianzi University, Canberra, Hangzhou, Canberra, AustraliaChinaAustralia;

Australian National University, Hangzhou Dianzi University, Canberra, Hangzhou, AustraliaChina;

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正文语种 eng
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关键词
Extraterrestrial measurements; Shape control; Shape measurement; Orbits; Velocity measurement; Shape; Sensors;

机译：地外测量;形状控制;形状测量;轨道;速度测量;形状;传感器;

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专利

1. Distributed control of angle-constrained cyclic formations using bearing-only measurements [J] . Shiyu Zhao, Feng Lin, Kemao Peng, Systems and Control Letters . 2014,第Null期

机译：仅使用方位角测量来限制角度约束的循环地层的分布
2. Bearing-Only Formation Control of Multi-Agent System Without Leader’s Velocity Information ? [J] . Hongyu Ji, Quan Yuan, Cong Li, IFAC PapersOnLine . 2020,第2期

机译：没有领导者速度信息的多智能体系的轴承形成控制？
3. Leader-follower formation control of nonholonomic mobile robots with bearing-only measurements [J] . Journal of the Franklin Institute . 2020,第3期

机译：仅进行轴承测量的非完整移动机器人的领导者跟随编队控制
4. Consensus-based formation control of nonholonomic robots without velocity measurements [C] . Tonatiuh Hernández, Antonio Loría, Emmanuel Nuño, European Control Conference . 2020

机译：不基于速度的非完整机器人基于共识的编队控制
5. Control of Self-Organizing and Geometric Formations Navigation and Formation Control Methods using the Velocity Potential Flow and the Reconfiguring Leader-Follower Controller. [D] . Pruner, Elisha. 2014

机译：使用速度势流和重新配置的前导跟随控制器控制自组织和几何编队的导航和编队控制方法。
6. Active Pneumatic Vibration Control by Using Pressure and Velocity Measurements and Adaptive Fuzzy Sliding-Mode Controller [O] . Hung-Yi Chen, Jin-Wei Liang, Jia-Wei Wu 2013

机译：利用压力和速度测量以及自适应模糊滑模控制器进行主动气动振动控制
7. Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control [O] . Mengbin Ye, Brian D. O. Anderson, Changbin Yu 2017

机译：仅轴承测量自定位，速度共识和形成控制

Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

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