access icon free Artificial potential field algorithm for path control of unmanned ground vehicles formation in highway

The artificial potential field algorithm for path control of unmanned ground vehicles formation in highway is proposed. First, the basic unit is derived from decomposition-iteration principle to improve formation stability and flexibility. Then, the virtual-leader potential field (VLPF) and vehicle-vehicle potential field are combined to generate the formation path in straight highway. Especially the VLPF function boundary is set as ellipse to adapt the highway environment. Finally, the formation in curved highway can be achieved through changing the ellipse's orientation and dimension. Simulation results demonstrate the effectiveness of the proposed algorithm.

Inspec keywords: collision avoidance; road vehicles; stability; iterative methods; remotely operated vehicles; mobile robots

Other keywords: vehicle-vehicle potential field; formation stability; unmanned ground vehicles formation; ellipse orientation; formation path generation; decomposition-iteration principle; artificial potential field algorithm; path control; VLPF function boundary; virtual-leader potential field

Subjects: Telerobotics; Spatial variables control; Stability in control theory; Interpolation and function approximation (numerical analysis); Mobile robots

References

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      • 3. Wei, R., Beard, R.: ‘Decentralized scheme for spacecraft formation flying via the virtual structure approach’, J. Guid. Control Dyn., 2015, 27, (1), pp. 17461751, doi: 10.2514/1.9287.
http://iet.metastore.ingenta.com/content/journals/10.1049/el.2018.5018
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