Kinematic control of platoons of autonomous vehicles

被引：127
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
收藏
页码：1285 / 1292
页数：8
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