Coordination of Multiple Autonomous Vehicles
نویسندگان
چکیده
We analyze the coordinated motion of a group of nonholonomic vehicles that are controlled in a distributed fashion to exhibit flocking behavior. This behavior emerges from aggregating the control actions of all group members; it is not imposed by some centralized control scheme. Each vehicle is locally controlled by a combination of a potential field force and an alignment force. The former control component ensures collision avoidance and attraction towards the group, while the latter steers each vehicle to the average heading of its ‘neighbors’. Eventually all vehicles attain a common heading and move in tight formation while avoiding collisions.
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تاریخ انتشار 2003