Integrated scenarios of formation tracking and collision avoidance of multi-vehicles

被引：0
|
作者：
Hoang Anh Pham [1 ]
Soriano, Thierry [1 ]
Van Hien Ngo [2 ]
机构：
[1] Univ Toulon & Var, COSMER, Toulon, France
[2] Hanoi Univ Sci & Technol, Hanoi, Vietnam
来源：
2018 13TH ANNUAL CONFERENCE ON SYSTEM OF SYSTEMS ENGINEERING (SOSE) | 2018年
关键词：
formation tracking; collision avoidance; obstacles avoidance; integrated scenarios; platform-independent model;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, we study the integrated scenarios of formation tracking, collision avoidance and obstacle avoidance of multiple unmanned underwater vehicles (UUV). It is assumed that the communication graph is directed and connected. The desired formation shape that is created is maintained and follow the trajectory by the consensus algorithm while the potential function is addressed for a collision avoidance. During following the trajectory, the Bezier curve is used for make a new trajectory to avoid obstacles. The effectiveness of the scenario is verified by a numerical simulation.
引用
收藏
页码：313 / 318
页数：6
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