Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

摘要

In this paper,the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general trajectory.Without using the velocity of the vehicles,a position feedback control law is proposed to fence the general target into the convex hull formed by the vehicles.Specifically,the dynamics of each vehicle is described by a double-integrator system.Two potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the vehicles.The proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of time.The effectiveness of the result is verified by a numerical example.