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TECHNICAL PAPERS

Formation of a Group of Vehicles With Full Information Using Constraint Forces

[+] Author and Article Information
Yunfei Zou, Eduardo Misawa

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, Oklahoma 74078

Prabhakar R. Pagilla1

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, Oklahoma 74078pagilla@ceat.okstate.edu

1

Corresponding author.

J. Dyn. Sys., Meas., Control 129(5), 654-661 (Apr 04, 2007) (8 pages) doi:10.1115/1.2767659 History: Received May 09, 2006; Revised April 04, 2007

We consider the problem of controlling a group of vehicles to a formation. The approach mimics the development of dynamics of a system of particles subject to constraints. In particular, we use the notion of constraint forces to achieve and maintain a given formation. As opposed to the potential function approach used in the literature, the proposed constraint force approach directly compensates for only those parts of the applied forces, which act against the constraints. We develop a stable control algorithm that will achieve the formation while ensuring navigation of the group based on the desired trajectories, which are consistent with the constraints. Simulation results on an example are shown to corroborate the proposed method.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

A rigid formation for a group of four vehicles

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Figure 2

Regulation of two vehicles with control u=F

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Figure 3

Regulation of two vehicles with control u=F+Fc

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Figure 4

Square formation of four vehicles (straight line trajectory)

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Figure 5

Square formation of four vehicles (sinusoidal trajectory)

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Figure 6

Control inputs (straight line trajectory)

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Figure 7

Distance between each pair of vehicles (straight line trajectory)

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Figure 8

Constraint error and navigational tracking error (straight line trajectory)

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Figure 9

Square formation of four vehicles with the distributed control strategy (straight line trajectory)

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