Kinematic Control of Platoons of Autonomous Vehicles

Kinematic Control of Platoons of Autonomous Vehicles

In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a...

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Veröffentlicht in:IEEE transactions on robotics 2006-12, Vol.22 (6), p.1285-1292
Hauptverfasser: Antonelli, G., Chiaverini, S.
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Applied sciences
Autonomous
Autonomous underwater vehicles
Centralized control
Closed-loop inverse kinematics
Communication system control
Computer science
control theory
systems
Computer simulation
Control systems
Control theory. Systems
Exact sciences and technology
formation control
Kinematics
Mathematical analysis
Mathematical models
Mechanics
Mobile robots
Motion control
Multirobot systems
Numerical simulation
platoon of vehicles
Remotely operated vehicles
Robot kinematics
Robotics
Shape control
Tasks
Vehicles
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Beschreibung
Zusammenfassung:In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.886272