计算机工程与应用2012，Vol.48Issue(15)：220-226,7.DOI:10.3778/j.issn.1002-8331.2012.15.045
新的动态环境中目标跟踪和避障的控制方法
New reactive target-tracking and obstacle avoidance control in dynamic environment
摘要
Abstract
This paper addresses a new reactive control design for point-mass vehicles with limited sensor range to track targets while avoiding static and moving obstacles in a dynamically evolving environment. A multi-objective control problem is formulated and control is synthesized by generating a potential field force for each objective and combining them through analysis and design. Different from standard potential field methods, the composite potential field described in this paper is time-varying and planned to account for moving obstacles and robot motion. Basic conditions and key properties are derived using rigorous Lyapunov analysis. Simulation examples are included to illustrate both the design process and performance of proposed control.关键词
被动式目标跟踪/避障/多目标控制/势场法Key words
reactive target-tracking/obstacle avoidance/multi-objective control/potential field method分类
信息技术与安全科学引用本文复制引用
杨建,董密,淳于江民..新的动态环境中目标跟踪和避障的控制方法[J].计算机工程与应用,2012,48(15):220-226,7.基金项目
中南大学中央高校基本科研业务费专项资金资助(No.2011QNZT037). （No.2011QNZT037）
