Galloway Kevin S, Dey Biswadip
Department of Electrical and Computer Engineering, US Naval Academy, Annapolis, MD 21402, USA.
Siemens Corporation, Corporate Technology, Princeton, NJ 08540, USA.
Proc Math Phys Eng Sci. 2020 Feb;476(2234):20190585. doi: 10.1098/rspa.2019.0585. Epub 2020 Feb 12.
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents manoeuvring in the vicinity of multiple moving entities (e.g. other autonomous agents) and stationary entities (e.g. fixed beacons or points of reference) in a three-dimensional environment. The proposed control law, which can be perceived as a modification of the three-dimensional constant bearing (CB) pursuit law, provides a means to allocate simultaneous attention to multiple entities. We investigate the behaviour of the closed-loop dynamics for a system with one agent referencing two beacons, as well as a two-agent system wherein each agent employs the beacon-referenced CB pursuit law with regards to the other agent and a stationary beacon. Under certain assumptions on the associated control parameters, we demonstrate that this problem admits with agents moving on circular orbits with a common radius, in planes perpendicular to a common axis passing through the beacons. As the common radius and distances from the beacon are determined by the choice of parameters in the pursuit law, this approach provides a means to engineer desired formations in a three-dimensional setting.
受无人机在现实世界应用的启发，本文介绍了一种分散控制机制，用于指导自主智能体在三维环境中靠近多个移动实体（如其他自主智能体）和静止实体（如固定信标或参考点）时的转向控制。所提出的控制律可视为三维恒定方位角（CB）追踪律的一种改进，它提供了一种同时关注多个实体的方法。我们研究了一个智能体参考两个信标的系统以及一个双智能体系统的闭环动力学行为，在双智能体系统中，每个智能体针对另一个智能体和一个静止信标采用基于信标的CB追踪律。在对相关控制参数的某些假设下，我们证明了在通过信标的公共轴垂直的平面内，该问题允许智能体在具有共同半径的圆形轨道上移动。由于共同半径和到信标的距离由追踪律中的参数选择决定，这种方法提供了一种在三维环境中设计期望编队的手段。
