Abstract
In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordination and collision avoidance in cooperative multi-vehicle missions based on a speed adjustment approach. The overall problem is decoupled in a coordination problem, in order to ensure coordination and inter-vehicle safety among the agents, and a collision-avoidance problem to guarantee the avoidance of non-cooperative moving obstacles. We model the network over which the cooperative vehicles communicate using tools from graph theory, and take communication losses and time delays into account. Finally, through a rigorous Lyapunov analysis, we provide performance bounds and demonstrate the efficacy of the algorithms with numerical and experimental results.
Original language | English (US) |
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Article number | 34 |
Pages (from-to) | 1-23 |
Number of pages | 23 |
Journal | Robotics |
Volume | 10 |
Issue number | 1 |
Early online date | Feb 13 2021 |
DOIs | |
State | Published - Mar 2021 |
Keywords
- Autonomous systems
- Collision avoidance
- Multi-vehicle coordination
ASJC Scopus subject areas
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence