Compliant Formation Control of an Autonomous Multiple Vehicle System

Download or read book Compliant Formation Control of an Autonomous Multiple Vehicle System written by Erica Zawodny MacArthur and published by . This book was released on 2006 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research identifies a new strategy called compliant formation control, which may be used to coordinate the navigational structure of a team of autonomous vehicles. This technique controls the team's motion based on a given, desired formation shape and a given, desired set of neighboring separation distances, wherein the formation shape is considered general two-dimensional. The strategy establishes how to select, place, and use virtual springs and dampers that conceptually "force" proper interspacing between neighboring team members. The objective is to continuously maintain, in the most optimal way, the desired formation as team motion proceeds.