About: Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://www.sciencedirect.com/science/article/pii/S0947358013000204
Description	This paper proposes a method for controlling formations of autonomous nonholonomic vehicles in order to reach a desired target region. The approach is based on utilization of pairs of virtual leaders whose control inputs are obtained in a single optimization process using model predictive control (MPC) methodology. The obtained solution of the optimization includes both a complete plan for the formation including the overall structure of robots’ workspace and control inputs for each vehicle. This ensures collision-free trajectories between the robots as well as dynamic obstacles. The proposed method enables to autonomously design arbitrary manoeuvres, like reverse driving or rotations of compact formations of car-like robots. Such a complicated behavior is illustrated by simulations and by experiments. Furthermore, the requirements that guarantee convergence of the group to the target region are formulated. This paper proposes a method for controlling formations of autonomous nonholonomic vehicles in order to reach a desired target region. The approach is based on utilization of pairs of virtual leaders whose control inputs are obtained in a single optimization process using model predictive control (MPC) methodology. The obtained solution of the optimization includes both a complete plan for the formation including the overall structure of robots’ workspace and control inputs for each vehicle. This ensures collision-free trajectories between the robots as well as dynamic obstacles. The proposed method enables to autonomously design arbitrary manoeuvres, like reverse driving or rotations of compact formations of car-like robots. Such a complicated behavior is illustrated by simulations and by experiments. Furthermore, the requirements that guarantee convergence of the group to the target region are formulated. (en)
Title	Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles (en)
skos:prefLabel	Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles (en)
skos:notation	RIV/68407700:21230/13:00206004!RIV14-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(GPP103/12/P756), P(LH11053), S
http://linked.open...iv/cisloPeriodika	2
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Saska, Martin Přeučil, Libor Vonásek, Vojtěch
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	66950
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00206004
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Mobile Robots; Formations; Model Predictive Control (en)
http://linked.open.../riv/klicoveSlovo	Formations Model Predictive Control Mobile Robots
http://linked.open...odStatuVydavatele	FR - Francouzská republika
http://linked.open...ontrolniKodProRIV	[0EE3DA4A510B]
http://linked.open...i/riv/nazevZdroje	European Journal of Control
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	6 (xsd:int)
http://linked.open...vavai/riv/projekt	Stabilization of µ-UAV swarms under decentralized relative localization. Control and Localization for Swarms of Low-cost Autonomous Robots
http://linked.open...UplatneniVysledku	2013
http://linked.open...v/svazekPeriodika	19
http://linked.open...iv/tvurceVysledku	Přeučil, Libor Saska, Martin Vonásek, Vojtěch Mejía, J. S. Schilling, K. Stipanovic, D. M.
http://linked.open...ain/vavai/riv/wos	000319851900008
issn	0947-3580
number of pages	15 (xsd:int)
http://bibframe.org/vocab/doi	10.1016/j.ejcon.2012.10.003
http://localhost/t...ganizacniJednotka	21230

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