Guidance Based Collision Avoidance of Coordinated Nonholonomic Autonomous Vehicles

被引：0
|
作者：
Xiang, Xianbo [1 ]
Lapierre, Lionel [1 ]
Jouvencel, Bruno [1 ]
机构：
[1] CNRS LIRMM UMII, Dept Robot, UMR 5506, CC 477, F-34392 Montpellier 5, France
来源：
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词：
COOPERATIVE CONTROL;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the problem of simultaneous path following control, obstacle avoidance and collision free for coordinated multiple nonholonomic autonomous vehicles under formation constraints. Global heading guidance design is highlighted in individual path following and augmented for obstacle avoidance between vehicles and obstacles. Within a leader-follower framework, the geometric formation is guaranteed by speed adaptation of individual path following control, and collision free among vehicles is also achieved by trimmed heading guidance. Simulation results illustrate the efficiency of the guidance based control design.
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页数：6
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