Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2013

Kód důvěrnosti údajů

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

Název periodika

European Journal of Control

ISSN

0947-3580

e-ISSN

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Svazek periodika

19

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

FR - Francouzská republika

Počet stran výsledku

15

Strana od-do

157-171

Kód UT WoS článku

000319851900008

EID výsledku v databázi Scopus

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