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Real Time Trajectory Planning for Groups of Unmanned Vehicles
| 题名： | Real Time Trajectory Planning for Groups of Unmanned Vehicles |
| 作者： | Fahimi, Farbod; |
| 关键词： | CONTROL SYSTEMS, REAL TIME, UNMANNED, SURFACE EFFECT VEHICLES, REMOTELY PILOTED VEHICLES, TRAJECTORIES, SIMULATION, AUTONOMOUS NAVIGATION, FEEDBACK, NONLINEAR SYSTEMS, ROBOTICS. |
| 摘要： | Feedback control laws for controlling multiple unmanned surface vehicles in arbitrary formations are proposed. The presented formation control method uses only local sensor-based information. The method of input/ output linearization has been used to exponentially stabilize the relative distance and orientation of neighboring vehicles with a three-degree-of-freedom dynamic model. It is shown that the internal dynamics of the system is also stable. The use of these control laws is demonstrated by computer simulations. These controllers can be utilized to control an arbitrarily large number of unmanned vehicles moving in very general formations. |
| 总页数： | 18 |
| 报告类型： | 科技报告 |
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