A22 Inverse Kinematics based Cooperative Target-enclosing Behavior for Swarms of Vehicles

Abstract

This paper deals with cooperative Target − enclosing problem by swarms of vehicles ． First ， we introduce Closed −LoQp Inverse Kinematics ( CLIK ) which is utilized f()r control Iaw ， Second， we define two control objectives ． One is lo enclose a target in regular polygon and the other is to close up the traveling direction of a meving targeし T ( ) achieve control objectives ， we design several tasks and they are connected by Nu11