Connectivity maintenance with application to target search
Connectivity maintenance with application to target search
复制标题
与目标搜索应用程序的连接维护
DOI：
10.1080/18824889.2021.1893971
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
S. Ueno
中科院分区：
文献类型：
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作者：
Hiroaki Kata;S. Ueno
摘要 提出了考虑无人驾驶车辆故障的连接维护及其应用于目标搜索的方案。无人驾驶车辆形成网络并与邻居交换信息。车辆故障可能会导致网络断开和信息交换中断。因此，在去中心化系统中配置了鲁棒的k连接网络，即使少于k个无人驾驶车辆发生故障，该网络仍然可以连接。每辆车根据部分顶点连通性确定速度输入，部分顶点连通性是对每辆车连通性的评估，以及用于避免碰撞的三角测量输入。存在障碍物时的目标搜索仿真表明，所提出的鲁棒k连通网络控制律是有效的。
ABSTRACT Connectivity maintenance with application to target search considering the failure of unmanned vehicles is proposed. The unmanned vehicles form a network and exchange information with neighbours. Vehicle failures can cause network disconnection and disruption of information exchange. Therefore, the robust k-connected network, which the network is connected even if less than k unmanned vehicles fail, is configured in a decentralized system. Each vehicle determines the velocity input according to the partial vertex connectivity, which is an evaluation of connectivity for each vehicle, and triangulation input for collision avoidance. Target search simulation in the presence of obstacles shows that the proposed robust k-connected network control law is valid.