Formation control and obstacle avoidance for multi-vehicle systems with optimal assignment

被引：0
|
作者：
Ruan Guangkai [1 ]
Wang Zhanqing [1 ]
Xia Yuanqing [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Formation control; Nonholonomic; Optimal assignment; Obstacle avoidance;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Formation control for multi-vehicle systems is derived based on the leader-follower strategy. The model of the vehicle is nonholonomic. According to the leader-follower strategy, how to quickly reach their desired position of the given interaction of communication graph based on optimal assignment is important. After reaching their desired position, maintaining the formation and obstacle avoidance in the process going to the goal are discussed. The artificial potential field method is used in obstacle avoidance and the local minimum and unreachable target problems are investigated. Finally, simulation and experiment results are included to verify the feasibility of the formation and obstacle avoidance control algorithms.
引用
收藏
页码：7297 / 7302
页数：6
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