On the use of redundant manipulator techniques for control of platoons of cooperating robotic vehicles

被引：42

作者：

Bishop, BE ^{[1
]}

机构：

[1] USN Acad, Dept Syst Engn, Annapolis, MD 21402 USA

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2003年 / 33卷 / 05期

关键词：

cooperative systems; control systems; mobile robots; mobile robot motion planning;

D O I：

10.1109/TSMCA.2003.817381

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this correspondence, we discuss the parallelism between redundant manipulator control and the control of platoons (or swarms) of autonomous vehicles. We cast the platoon formation synthesis problem in an analogous manner to traditional redundancy resolution, and discuss techniques for real-time reactive path generation and control of the platoon. The efficacy of the proposed approach is demonstrated through simulation experiments.

引用

页码：608 / 615

页数：8

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