论文标题
基于轴承的自主通信继电器定位在视野约束下
Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints
论文作者
论文摘要
本文使用中继车研究了针对多个基于代理的移动设备的通信中继机构的问题。目的是自动驾驶接力车，以达到通信继电器机构的位置，同时维护其视野内部的其他车辆。为中继无人机提出了基于轴承的控制定律，并为单个和多个代理设计。我们还提供了一个避免碰撞的计划，该计划确保接力与其他代理之间没有碰撞。还报告了数值模拟和实验结果，以显示所提出方法的功效。
This paper investigates the problem of communication relay establishment for multiple agent-based mobile units using a relay vehicle. The objective is to drive autonomously the relay vehicle to attain a position for communication relay establishment while maintaining the other vehicles inside of its field-of-view. A bearing-based control law is proposed for the relay drone and designed for both single and multiple agents. We also provide a collision avoidance scheme that ensures no collisions between the relay and other agents. Numerical simulations and experimental results are reported as well to show the efficacy of the proposed approach.
