Control of Platoons of Nonholonomic Vehicles Using Redundant Manipulator Analogs

[+] Author and Article Information
Bradley E. Bishop

Systems Engineering Department (Stop 14A), United States Naval Academy, Annapolis, MD 21402bishop@usna.edu

J. Dyn. Sys., Meas., Control 128(1), 171-175 (Nov 30, 2005) (5 pages) doi:10.1115/1.2168159 History: Received April 01, 2005; Revised November 30, 2005

In this work, we consider the control of platoons of cooperating nonholonomic vehicles. Using techniques based on redundant manipulator control, the platoon is treated as a single entity with a set of platoon-level objectives. The class of tricyclelike robots, with limits on steering and speed, is chosen because it represents a vast class of real, nonholonomic vehicles beyond the basic differential drive. The method presented uses platoon redundancy to limit the impact of vehicle constraints on the platoon-level objectives. A simulation study is presented to show the efficacy of the method.

Copyright © 2006 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

Basic nonholonomic vehicle configuration

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Figure 2

platoon trajectories with zero and four error projection. The diamonds represent the moving target and the triangles are the units.

Grahic Jump Location
Figure 3

Close-up of errors in platoon-level functions with zero and four error projections (common transient truncated)

Grahic Jump Location
Figure 4

Integrated error for various iterations, excluding transient mean position-tracking error

Grahic Jump Location
Figure 5

Platoon trajectories with zero and three error projections. The diamonds are the moving target, the triangles are the units, and circles represent obstacles.




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