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Pregled bibliografske jedinice broj: 834570

Zbornik radova

Autori: Babić, Anja; Lončar, Ivan; Mišković, Nikola; Vukić, Zoran
Naslov: Energy-efficient environmentally adaptive consensus-based formation control with collision avoidance for multi-vehicle systems
Izvornik: Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid (ur.). - IFAC Proceedings Volumes (IFAC-PapersOnline) , 2016. 361-366.
ISSN: 2405-8963
Skup: 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)
Mjesto i datum: Trondheim, Norveška, 13-16.09.2016.
Ključne riječi: Consensus ; cooperative control ; formation keeping ; multi-vehicle system
Sažetak:
Technological advances over the past several decades have made it possible to develop increasingly cheap but also increasingly capable and autonomous unmanned marine vehicles. Additionally, this makes cooperative approaches to problem-solving a viable strategy in marine applications. This paper takes a look at a control scenario featuring a system consisting of a number of floating robotic platforms designed with long-term functioning in a challenging environment in mind. Decentralised consensus strategies for formation generation and formation keeping are described, with an introduction of modifications such as virtual forces that ensure collision avoidance. The group of vehicles is then placed in a simulated environment and subjected to environmental disturbances in the form of water current. An additional adaptive algorithm is proposed and implemented in the simulation, allowing the vehicles to assume a formation relative to the measured water current that ensures greater energy efficiency by having the vehicles physically shield each other from the current's detrimental effects. Finally, the simulation results are discussed and some directions for further work are suggested.
Rad je indeksiran u
bazama podataka:
Scopus
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
URL Internet adrese: http://www.sciencedirect.com/science/article/pii/S2405896316320195
Upisao u CROSBI: Nikola Mišković (nikola.miskovic@fer.hr), 26. Ruj. 2016. u 17:33 sati



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