Time-optimal coordinated control of the relative formation of multiple vehicles

Author

Furukawa, Toshihiro ; Durrant-Whyte, Hugh F. ; Bourgault, FrédéBric ; Dissanayake, Gamini

Author_Institution

Sch. of Mechanical & Manufacturing Eng., New South Wales Univ., Sydney, NSW, Australia

Volume

1

fYear

2003

fDate

16-20 July 2003

Firstpage

259

Abstract

This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.

Keywords

cooperative systems; mobile robots; multi-robot systems; time optimal control; canonical formulation; cooperative autonomous vehicles; multiple vehicles; relative formation; time-optimal coordinated control; Australia; Automotive engineering; Control systems; Cooperative systems; Motion control; Nonlinear control systems; Optimal control; Pulp manufacturing; Remotely operated vehicles; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222099

Filename

1222099