TY - GEN
T1 - A decentralized, harmonic, potential field-based controller for steering dynamic agents in a cluttered environment
AU - Masoud, Ahmad A.
PY - 2010
Y1 - 2010
N2 - In this paper a separation maintenance controller is developed for continuously steering a purposive, dynamic group of mobile agents away from each other in a confined, cluttered environment. The controller allows conflict-free, simultaneous use of space by the agents. It has a decentralized form that is constructed in conformity with the artificial life approach to behavior synthesis. The G-type control action used individually by the agents to govern their motion (also known as the control protocol) is extracted from a harmonic potential field. The overall controller governing the group (P-type control) has a decentralized, self-organizing, asynchronous nature with a computational effort that linearly grows with the number of agents. The capabilities of the controller are demonstrated by simulation. Proofs that the agents can avoid self and environment collision as well as converge to their targets are provided.
AB - In this paper a separation maintenance controller is developed for continuously steering a purposive, dynamic group of mobile agents away from each other in a confined, cluttered environment. The controller allows conflict-free, simultaneous use of space by the agents. It has a decentralized form that is constructed in conformity with the artificial life approach to behavior synthesis. The G-type control action used individually by the agents to govern their motion (also known as the control protocol) is extracted from a harmonic potential field. The overall controller governing the group (P-type control) has a decentralized, self-organizing, asynchronous nature with a computational effort that linearly grows with the number of agents. The capabilities of the controller are demonstrated by simulation. Proofs that the agents can avoid self and environment collision as well as converge to their targets are provided.
UR - http://www.scopus.com/inward/record.url?scp=79951604041&partnerID=8YFLogxK
U2 - 10.1109/AIM.2010.5695725
DO - 10.1109/AIM.2010.5695725
M3 - Conference contribution
AN - SCOPUS:79951604041
SN - 9781424480319
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 503
EP - 508
BT - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
ER -