Kinematic control of platoons of autonomous vehicles

被引：128

作者：

Antonelli, Gianluca ^{[1
]}

Chiaverini, Stefano ^{[1
]}

机构：

[1] Univ Cassino, DAEIMI, I-03043 Cassino, FR, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2006年 / 22卷 / 06期

关键词：

closed-loop inverse kinematics; formation control; multirobot systems; platoon of vehicles;

D O I：

10.1109/TRO.2006.886272

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies.

引用

页码：1285 / 1292

页数：8

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