Bipartite Consensus of High‐Order Edge Dynamics on Coopetition Multiagent Systems

Yang, Yilong; Ji, Zhijian; Tian, Lei; Ma, Huizi; Qi, Qingyuan

doi:10.1155/2019/1628239

Cited by 3 publications

(1 citation statement)

References 44 publications

(73 reference statements)

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“…AUV is an essential tool for human beings to expand cognition and explore the world under the sea. It can operate autonomously in the place where human beings cannot reach [2] and has a very profound value of research [3][4][5][6][7] and application [8]. e circumstances of underwater are not set in stone.…”

Section: Introductionmentioning

confidence: 99%

Improved Artificial Potential Field Method Applied for AUV Path Planning

Fan

Guo

Liu

et al. 2020

Mathematical Problems in Engineering

118

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With the topics related to the intelligent AUV, control and navigation have become one of the key researching fields. This paper presents a concise and reliable path planning method for AUV based on the improved APF method. AUV can make the decision on obstacle avoidance in terms of the state of itself and the motion of obstacles. The artificial potential field (APF) method has been widely applied in static real-time path planning. In this study, we present the improved APF method to solve some inherent shortcomings, such as the local minima and the inaccessibility of the target. A distance correction factor is added to the repulsive potential field function to solve the GNRON problem. The regular hexagon-guided method is proposed to improve the local minima problem. Meanwhile, the relative velocity method about the moving objects detection and avoidance is proposed for the dynamic environment. This method considers not only the spatial location but also the magnitude and direction of the velocity of the moving objects, which can avoid dynamic obstacles in time. So the proposed path planning method is suitable for both static and dynamic environments. The virtual environment has been built, and the emulation has been in progress in MATLAB. Simulation results show that the proposed method has promising feasibility and efficiency in the AUV real-time path planning. We demonstrate the performance of the proposed method in the real environment. Experimental results show that the proposed method is capable of avoiding the obstacles efficiently and finding an optimized path.

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Section: Introductionmentioning

confidence: 99%

Improved Artificial Potential Field Method Applied for AUV Path Planning

Fan

Guo

Liu

et al. 2020

Mathematical Problems in Engineering

118

View full text Add to dashboard Cite

show abstract

Stabilization and synchronization control for complex dynamical networks with dynamic link subsystem

Gao

Liu

Wang

et al. 2022

Information Sciences

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Structural controllability analysis based on dilations under leader–follower framework

Sun

Lin

et al. 2021

IMA Journal of Mathematical Control and Information

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In this paper, the structural controllability of leader–follower systems over digraphs is discussed. Firstly, with the aid of leader–follower partition, we analyze the topological characteristics of systems without dilations. Moreover, we divide the digraph into the leader subgraph and the follower subgraph. By analyzing the topological characteristics of the follower subgraph, a sufficient condition to ensure the system structurally controllable is given. Furthermore, some special topologies of follower graphs are analyzed, such as unidirectional cycle graphs and directed paths, and the corresponding sufficient conditions of structural controllability are given. Meanwhile, a method to construct digraphs with structural controllability is presented. Finally, the strong structural controllability of directed tree graphs is considered, as well as the selection mechanism of leaders and the lower bound of the number of leaders under strong structural controllability are given. The above results reflect the effects of topologies on strong (or weak) structural controllability.

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Bipartite Consensus of High‐Order Edge Dynamics on Coopetition Multiagent Systems

Cited by 3 publications

References 44 publications

Improved Artificial Potential Field Method Applied for AUV Path Planning

Improved Artificial Potential Field Method Applied for AUV Path Planning

Stabilization and synchronization control for complex dynamical networks with dynamic link subsystem

Structural controllability analysis based on dilations under leader–follower framework

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