Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00206004" target="_blank" >RIV/68407700:21230/13:00206004 - isvavai.cz</a>

Result on the web

<a href="http://www.sciencedirect.com/science/article/pii/S0947358013000204" target="_blank" >http://www.sciencedirect.com/science/article/pii/S0947358013000204</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ejcon.2012.10.003" target="_blank" >10.1016/j.ejcon.2012.10.003</a>

Result language

angličtina

Original language name

Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles

Original language description

This paper proposes a method for controlling formations of autonomous nonholonomic vehicles in order to reach a desired target region. The approach is based on utilization of pairs of virtual leaders whose control inputs are obtained in a single optimization process using model predictive control (MPC) methodology. The obtained solution of the optimization includes both a complete plan for the formation including the overall structure of robots? workspace and control inputs for each vehicle. This ensures collision-free trajectories between the robots as well as dynamic obstacles. The proposed method enables to autonomously design arbitrary manoeuvres, like reverse driving or rotations of compact formations of car-like robots. Such a complicated behavior is illustrated by simulations and by experiments. Furthermore, the requirements that guarantee convergence of the group to the target region are formulated.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JC - Computer hardware and software

OECD FORD branch

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Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2013

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

European Journal of Control

ISSN

0947-3580

e-ISSN

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Volume of the periodical

19

Issue of the periodical within the volume

2

Country of publishing house

FR - FRANCE

Number of pages

15

Pages from-to

157-171

UT code for WoS article

000319851900008

EID of the result in the Scopus database

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