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Rendezvous in space with minimal sensing and coarse actuation

DSpace at IIT Bombay

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Title Rendezvous in space with minimal sensing and coarse actuation
 
Creator SAHOO, SR
BANAVAR, RN
SINHA, A
 
Subject Consensus
Rendezvous
Minimal sensing
Quantized control
UAVs
CYCLIC PURSUIT
LINEAR-SYSTEMS
OPTIMAL NAVIGATION
AUTONOMOUS AGENTS
COMMUNICATION
STABILIZATION
VISIBILITY
TIME
ENVIRONMENT
ALGORITHM
 
Description In this paper, we propose a control law to achieve a rendezvous of autonomous vehicles moving in three-dimensional (3D) space, using minimal data sensing and quantized control. A pre-assigned graph uniquely assigns the pursuer-target pair in a cyclic manner. A quantized control law has been proposed which allows the vehicle to pitch and yaw simultaneously in the required direction and track its target agent. The only measurement required for the proposed control law is the quadrant from which the target vehicle moves out of the field-of-view of the pursuing vehicle. A Lyapunov function is chosen to find a domain for the field-of-view which guarantees rendezvous under the proposed control law. Computer simulations are presented to demonstrate the control law. (C) 2012 Elsevier Ltd. All rights reserved.
 
Publisher PERGAMON-ELSEVIER SCIENCE LTD
 
Date 2014-10-15T10:44:21Z
2014-10-15T10:44:21Z
2013
 
Type Article
 
Identifier AUTOMATICA, 49(2)519-525
0005-1098
1873-2836
http://dx.doi.org/10.1016/j.automatica.2012.11.024
http://dspace.library.iitb.ac.in/jspui/handle/100/14777
 
Language en