A distributed coordination algorithm is proposed to enhance the engagement of the multi-missile network in consideration of obstacle avoidance. To achieve a cooperative interception, the guidance law is developed in a...A distributed coordination algorithm is proposed to enhance the engagement of the multi-missile network in consideration of obstacle avoidance. To achieve a cooperative interception, the guidance law is developed in a simple form that consists of three individual components for tar- get capture, time coordination and obstacle avoidance. The distributed coordination algorithm enables a group of interceptor missiles to reach the target simultaneously, even if some member in the multi-missile network can only collect the information from nearest neighbors. The simula- tion results show that the guidance strategy provides a feasible tool to implement obstacle avoid- ance for the multi-missile network with satisfactory accuracy of target capture. The effects of the gain parameters are also discussed to evaluate the proposed approach.展开更多
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static ...In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.展开更多
基金co-supported by the National Natural Science Foundation of China(Nos.61273349 and 61175109)the Aeronautical Science Foundation of China(Nos.2014ZA18004 and 2013ZA18001)
文摘A distributed coordination algorithm is proposed to enhance the engagement of the multi-missile network in consideration of obstacle avoidance. To achieve a cooperative interception, the guidance law is developed in a simple form that consists of three individual components for tar- get capture, time coordination and obstacle avoidance. The distributed coordination algorithm enables a group of interceptor missiles to reach the target simultaneously, even if some member in the multi-missile network can only collect the information from nearest neighbors. The simula- tion results show that the guidance strategy provides a feasible tool to implement obstacle avoid- ance for the multi-missile network with satisfactory accuracy of target capture. The effects of the gain parameters are also discussed to evaluate the proposed approach.
文摘In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
