Title :
On the application of redundant manipulator techniques to the control of platoons of autonomous vehicles
Author :
Bishop, Bradley E. ; Stilwell, Daniel J.
Author_Institution :
Syst. Eng., US Naval Acad., Annapolis, MD, USA
Abstract :
In this paper, we discuss the parallelism between redundant manipulator control and the control of platoon-level functions for systems of autonomous vehicles. We cast the platoon formation problem in an analogous manner to traditional redundancy resolution, and discuss techniques for control of the platoon
Keywords :
mobile robots; redundant manipulators; autonomous vehicles; autonomous vehicles platoons control; platoon-level functions; redundant manipulator; Automotive engineering; Control systems; Jacobian matrices; Legged locomotion; Manipulators; Materials handling; Mobile robots; Remotely operated vehicles; Robot kinematics; Systems engineering and theory;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973971
