Publish and Subscribe-Based Formation and Containment Control of Heterogeneous Robotic System with Actuator Time Delay
نویسندگان
چکیده
This paper addresses the problem of controlling a heterogeneous system composed multiple Unmanned Aerial Vehicles (UAVs) and Autonomous Underwater (AUVs) for formation containment maintenance. The proposed approach considers actuator time delay and, in addition to containment, obstacle avoidance, offers robust navigation algorithm uses reliable middleware data transmission exchange. methodology followed both flocking technique modified L1 adaptive control ensure proper coordination while avoiding obstacles. exchange between all agents is provided through distribution services (DDS) middleware, which solves interoperability issue when dealing with multiagent systems. controller local stabilizing dynamic model each UAV AUV, used coordinate followers around leader or within space delimited by their leaders. Potential Field (PF) allows avoidance during agents’ movement. performance under considerations mentioned above are verified demonstrated using simulations.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2021
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app11199145