Predictive‐based optimal automatic formation control of mobile vehicles
Predictive‐based optimal automatic formation control of mobile vehicles
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DOI：
10.1049/csy2.12034
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发表时间：
2021-11
期刊：
影响因子：
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通讯作者：
T. Zanma;Shunta Haga;K. Koiwa;Kang‐Zhi Liu
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文献类型：
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作者：
T. Zanma;Shunta Haga;K. Koiwa;Kang‐Zhi Liu
近年来，编队控制作为多移动的机器人系统中最令人感兴趣的问题之一受到了极大的关注。在可变编队控制系统中，多个移动的车辆可以从可能编队的列表中形成适当的编队，使得即使当路线的宽度较窄时，所有移动的车辆也可以通过，并且同时车辆保持路线与每个车辆之间的设定距离。提出了一种基于预测的自动编队控制方法。在我们的编队控制系统中，一个独特的编队是确定从可行的编队在任何给定的采样点。该控制通过引入用于指定编队的二进制变量由其相应的混合整数二次规划来制定。通过仿真和实验验证了所提出方法的有效性，应用于两轮移动的车辆。
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.