Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field
المؤلفون المشاركون
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2014، العدد 2014 (31 ديسمبر/كانون الأول 2014)، ص ص. 1-13، 13ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2014-03-02
دولة النشر
مصر
عدد الصفحات
13
التخصصات الرئيسية
الملخص EN
This paper investigates a framework of real-time formation of autonomous vehicles by using potential field and variational integrator.
Real-time formation requires vehicles to have coordinated motion and efficient computation.
Interactions described by potential field can meet the former requirement which results in a nonlinear system.
Stability analysis of such nonlinear system is difficult.
Our methodology of stability analysis is discussed in error dynamic system.
Transformation of coordinates from inertial frame to body frame can help the stability analysis focus on the structure instead of particular coordinates.
Then, the Jacobian of reduced system can be calculated.
It can be proved that the formation is stable at the equilibrium point of error dynamic system with the effect of damping force.
For consideration of calculation, variational integrator is introduced.
It is equivalent to solving algebraic equations.
Forced Euler-Lagrange equation in discrete expression is used to construct a forced variational integrator for vehicles in potential field and obstacle environment.
By applying forced variational integrator on computation of vehicles' motion, real-time formation of vehicles in obstacle environment can be implemented.
Algorithm based on forced variational integrator is designed for a leader-follower formation.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Yang, Shengqing& Yu, Jianqiao. 2014. Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-484185
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Yang, Shengqing& Yu, Jianqiao. Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field. Mathematical Problems in Engineering No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-484185
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Yang, Shengqing& Yu, Jianqiao. Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-484185
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-484185
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر