학술논문
Formation control and obstacle avoidance for multi-vehicle systems with optimal assignment
Document Type
Conference
Author
Source
2015 34th Chinese Control Conference (CCC) Control Conference (CCC), 2015 34th Chinese. :7297-7302 Jul, 2015
Subject
Language
ISSN
1934-1768
Abstract
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.