Time-optimal coordinated control of the relative formation of multiple vehicles

被引：0
|
作者：
Furukawa, T [1 ]
Durrant-Whyte, HF [1 ]
Bourgault, F [1 ]
Dissanayake, G [1 ]
机构：
[1] Univ New S Wales, Sch Mech & Mfg Engn, Sydney, NSW, Australia
来源：
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS | 2003年
关键词：
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：
This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution of this problem. The techniques described offer a solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.
引用
收藏
页码：259 / 264
页数：6
相关论文
共 50 条
  • [1] Time-Optimal Control for Formation Reconfiguration of Multiple Unmanned Aerial Vehicles
    Zhang Hongmei
    Zhao Guoli
    Xu Guangyan
    [J]. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 5630 - 5635
  • [2] Time-optimal cooperative control of multiple robot vehicles
    Furukawa, T
    Durrant-Whye, HF
    Dissanayake, G
    [J]. 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 944 - 950
  • [3] Time-optimal control for underwater vehicles
    Chyba, M
    Leonard, NE
    Sontag, ED
    [J]. LAGRANGIAN AND HAMILTONIAN METHODS FOR NONLINEAR CONTROL, 2000, : 117 - 122
  • [4] Time-optimal control of multiple unmanned aerial vehicles with human control input
    Han, Tao
    Xiao, Bo
    Zhan, Xi-Sheng
    Wu, Jie
    Gao, Hongling
    [J]. INTERNATIONAL JOURNAL OF INTELLIGENT COMPUTING AND CYBERNETICS, 2019, 12 (01) : 138 - 152
  • [5] NEAR TIME-OPTIMAL CONTROL OF RACING VEHICLES
    METZ, D
    WILLIAMS, D
    [J]. AUTOMATICA, 1989, 25 (06) : 841 - 857
  • [6] Time-Optimal Control of Autonomous Electric Vehicles
    Max, Gyorgy
    Lantos, Bela
    [J]. 2017 25TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2017, : 589 - 594
  • [7] Finite Time Optimal Formation Control for Multiple Vehicles
    Zhiyong Geng
    [J]. 26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 3657 - 3662
  • [8] Dynamic allocation and control of coordinated UAVs to engage multiple targets in a time-optimal manner
    Furukawa, T
    Bourgault, F
    Durrant-Whyte, HF
    Dissanayake, G
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 2353 - 2358
  • [9] NEAR TIME-OPTIMAL CONTROL OF RACING VEHICLES THROUGH SIMULATION
    WILLIAMS, D
    METZ, D
    [J]. PROCEEDINGS OF THE 1989 SUMMER COMPUTER SIMULATION CONFERENCE, 1989, : 793 - 798
  • [10] Time-Optimal Velocity Tracking Control for Consensus Formation of Multiple Nonholonomic Mobile Robots
    Fahham, Hamidreza
    Zaraki, Abolfazl
    Tucker, Gareth
    Spong, Mark W.
    [J]. SENSORS, 2021, 21 (23)
12345