Experiments on transportation support system using multi-vehicle's formation

Yasunori Kawai, Kentarou Nagashima, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper considers the transportation support system using multi-vehicle's formation. The objective of our research is to carry the load using four vehicles keeping the formation with information exchange among vehicles. The control law based on a Lyapunov function is proposed based on the virtual structure and the graph Laplacian. In the simulation and experiment, it is shown that four vehicles can reach the reference position by using four wheeled mobile vehicles.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages682-687
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Keywords

  • Lyapunov function
  • formation
  • multi-vehicle
  • stability
  • virtual structure

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kawai, Y., Nagashima, K., & Namerikawa, T. (2011). Experiments on transportation support system using multi-vehicle's formation. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 682-687). [6060751] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).