Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles
A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers...
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2012-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2012/241916 |
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doaj-770e3f76a7b74f3e942a411bf943f6442020-11-24T22:28:56ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472012-01-01201210.1155/2012/241916241916Complex Formation Control of Large-Scale Intelligent Autonomous VehiclesMing Lei0Shao-lei Zhou1Xiu-xia Yang2Gao-yang Yin3Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaA new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.http://dx.doi.org/10.1155/2012/241916 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ming Lei Shao-lei Zhou Xiu-xia Yang Gao-yang Yin |
spellingShingle |
Ming Lei Shao-lei Zhou Xiu-xia Yang Gao-yang Yin Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles Mathematical Problems in Engineering |
author_facet |
Ming Lei Shao-lei Zhou Xiu-xia Yang Gao-yang Yin |
author_sort |
Ming Lei |
title |
Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles |
title_short |
Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles |
title_full |
Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles |
title_fullStr |
Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles |
title_full_unstemmed |
Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles |
title_sort |
complex formation control of large-scale intelligent autonomous vehicles |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2012-01-01 |
description |
A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory. |
url |
http://dx.doi.org/10.1155/2012/241916 |
work_keys_str_mv |
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_version_ |
1725745574572982272 |