Flocking algorithm for multiple nonholonomic cars

Yasuhiro Hayashi, Toru Namerikawa

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1660-1665
ページ数6
ISBN(電子版)9784907764500
DOI
出版ステータスPublished - 2016 11月 18
イベント55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
継続期間: 2016 9月 202016 9月 23

出版物シリーズ

名前2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016

Other

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

ASJC Scopus subject areas

  • 制御と最適化
  • 器械工学
  • 制御およびシステム工学

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