NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS

Martin Saska, Vojtěch Vonásek, Libor Přeučil

Abstract

Complex maneuvers of formations of car-like autonomous vehicles are investigated in this paper. The proposed algorithm provides a complete plan for the formation to solve desired tasks and actual control inputs for each robot to ensure collision-free trajectories with respect to neighboring robots as well as dynamic obstacles. The method is based on utilization of complementary virtual leaders whose control inputs are obtained in one merged optimization process using receding horizon control methodologies. The functionality of the system, which enables reverse driving and arbitrary rotations of formations of nonholonomic robots, is verified by simulations of multi-robot tasks and by hardware experiments.

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Paper Citation


in Harvard Style

Saska M., Vonásek V. and Přeučil L. (2010). NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 141-146. DOI: 10.5220/0002883501410146


in Bibtex Style

@conference{icinco10,
author={Martin Saska and Vojtěch Vonásek and Libor Přeučil},
title={NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={141-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002883501410146},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS
SN - 978-989-8425-01-0
AU - Saska M.
AU - Vonásek V.
AU - Přeučil L.
PY - 2010
SP - 141
EP - 146
DO - 10.5220/0002883501410146