Complex formation control of large-scale intelligent autonomous vehicles
type: Item
instance of: scholarly article
title: Complex formation control of large-scale intelligent autonomous vehicles
zbMATH Open document ID: 1264.93086
DOI: 10.1155/2012/241916
author: Ming Lei
author: Shaolei Zhou
author: Xiu-Xia Yang
author: Gao-Yang Yin
published in: Mathematical Problems in Engineering
publication date: 2013-06-11T00:00:00Z
review text: Summary: A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 93A14
Mathematics Subject Classification ID: 93A13
zbMATH DE Number: 6173118
Wikidata QID: Q58911323
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/241916
OpenAlex ID: W2023057643
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description: scientific article; zbMATH DE number 6173118