Compliant Formation Control of an Autonomous Multiple Vehicle System

Released on by Erica Zawodny MacArthur
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  • Compliant Formation Control of an Autonomous Multiple Vehicle System Book Detail

  • Author : Erica Zawodny MacArthur
  • Release Date : 2006
  • Publisher :
  • Genre :
  • Pages : 98
  • ISBN 13 : 9781109873603
  • File Size : 75,75 MB
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Compliant Formation Control of an Autonomous Multiple Vehicle System by Erica Zawodny MacArthur PDF Summary

Book Description: This research identifies a new strategy called compliant formation control, which may be used to coordinate the navigational structure of a team of autonomous vehicles. This technique controls the team's motion based on a given, desired formation shape and a given, desired set of neighboring separation distances, wherein the formation shape is considered general two-dimensional. The strategy establishes how to select, place, and use virtual springs and dampers that conceptually "force" proper interspacing between neighboring team members. The objective is to continuously maintain, in the most optimal way, the desired formation as team motion proceeds.

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