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Styled-Velocity Flocking of Autonomous Vehicles: A Systematic Design.
- Source :
- IEEE Transactions on Automatic Control; Aug2015, Vol. 60 Issue 8, p2015-2030, 16p
- Publication Year :
- 2015
-
Abstract
- This paper develops a measure-theoretic approach for generating the collective behavior of flocking of planar autonomous vehicles under all-to-all communication scheme. To obtain flocking protocol, we formulate the notion of state of styled-velocity flocking for the target state of a design problem instead of considering solution-ansatzes. This notion captures a broader class of flocking behaviors of non-parallel motions, as well as embodies the two important performances of cohesion maintenance and collision avoidance. To pose a control design problem, a measure-valued transition equation is obtained to induce an auxiliary one-body continuum-model from the exact multi-body particle-model of the collective system. The design problem is then formulated on the auxiliary continuum-model, and a systematic design procedure is presented. The state of styled-velocity flocking of the particle-model under the obtained flocking protocol is then verified with an important result on the continuous dependence on initial data of solutions of the measured-valued transition equation. Application to elliptical flocking of mobile robots is presented to illustrate the novelty of the presented theory. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 60
- Issue :
- 8
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 108597457
- Full Text :
- https://doi.org/10.1109/TAC.2015.2400664