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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2021, Vol. 3 Issue (4): 331-342    DOI: 10.1049/csy2.12034
    
Predictive-based optimal automatic formation control of mobile vehicles
Predictive-based optimal automatic formation control of mobile vehicles
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摘要： In recent years, formation control has received a great deal of attention as one of the most interesting issues in multiple mobile robots systems. In variable formation control systems, multiple mobile vehicles can form an appropriate formation from a list of possible formations, such that all mobile vehicles can pass even when the width of the course is narrow, and simultaneously the vehicles maintain a set distance between the course and each vehicle. This paper presents a predictive-based automatic formation control. In our formation control system, a unique formation is determined from feasible formations at any given sampling point. This control is formulated by its corresponding mixed-integer quadratic programing by introducing binary variables that are used to specify the formation. The effectiveness of the proposed methods is verified by applying two-wheeled mobile vehicles through simulations and experiments.
Abstract: In recent years, formation control has received a great deal of attention as one of the most interesting issues in multiple mobile robots systems. In variable formation control systems, multiple mobile vehicles can form an appropriate formation from a list of possible formations, such that all mobile vehicles can pass even when the width of the course is narrow, and simultaneously the vehicles maintain a set distance between the course and each vehicle. This paper presents a predictive-based automatic formation control. In our formation control system, a unique formation is determined from feasible formations at any given sampling point. This control is formulated by its corresponding mixed-integer quadratic programing by introducing binary variables that are used to specify the formation. The effectiveness of the proposed methods is verified by applying two-wheeled mobile vehicles through simulations and experiments.
出版日期: 2021-12-12
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Tadanao Zanma
Shunta Haga
Kenta Koiwa
Kang-Zhi Liu

引用本文:

Tadanao Zanma, Shunta Haga, Kenta Koiwa, Kang-Zhi Liu. Predictive-based optimal automatic formation control of mobile vehicles. IET Cyber-Systems and Robotics, 2021, 3(4): 331-342.

链接本文:

https://www.zjujournals.com/iet-csr/CN/10.1049/csy2.12034    或    https://www.zjujournals.com/iet-csr/CN/Y2021/V3/I4/331

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