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原文传递 Framework for Sense and Follow Convoys for Collective Autonomous Mobility.

题名：	Framework for Sense and Follow Convoys for Collective Autonomous Mobility.
作者：	Abraham K. Ishihara##Husni Idris##Min Xue
摘要：	Convoys are collections of vehicles that share similar velocity profiles. In the sense-and- follow convoy construct, a vehicle can follow a member of an existing convoy resulting in convoy chaining. We prove conditions under which this can occur such that the resulting convoy chain is bounded and the velocities of all members converge to the leader velocity through locally distributedcontrolalgorithms. Toassesstheapproach, weutilizeasixdegree-of-freedomrigid- body vehicle dynamics model for each agent. A dynamic inversion based control law is used to track the desired trajectory generated by the convoy algorithms. To simulate the system, we utilize Unity, a cross-platform game engine, where 3-dimensional terrain, building, and vehicle data can be visualized. Numerous simulations are presented to illustrate the concept.
总页数：	33
报告类型：	科技报告
发布日期：	2021