Flocking algorithm for multiple nonholonomic cars

Yasuhiro Hayashi, Toru Namerikawa

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

2 Citations (Scopus)

Abstract

In this paper, a flocking control algorithm for multiple nonholonomic cars is proposed. First, it is shown that the nonholonomic car is linearized by using a virtual vehicle. Second, we define a metric and topological neighborhood set in order to decide which cars to be next to the other car. Control objectives consist of three rules in boids model as separation, alignment, and cohesion, which is a well-known framework of emerging flock, advocated by Reynolds in 1986. Using the neighborhood set, we show the formation of flocking corresponds to the model. These cars are supposed to be on a straight highway, which enables us to set an assumption that each car heads to the same direction and reaches the same velocity eventually. The input for a car consists of the artificial potential method and LaSalle's invariance principle is utilized to prove the convergence of the entire vehicle system. Finally, the effectiveness of the presented method is examined through simulation.

Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1660-1665
Number of pages6
ISBN (Electronic)9784907764500
DOIs
Publication statusPublished - 2016 Nov 18
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: 2016 Sep 202016 Sep 23

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period16/9/2016/9/23

Keywords

  • Flocking
  • MT Neighborhood set
  • Nonholonomic car
  • Virtual vehicle

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Control and Systems Engineering

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  • Cite this

    Hayashi, Y., & Namerikawa, T. (2016). Flocking algorithm for multiple nonholonomic cars. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 (pp. 1660-1665). [7749193] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749193