DocumentCode :
1000562
Title :
Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles
Author :
Stilwell, Daniel J. ; Bishop, Bradley E. ; Sylvester, Caleb A.
Author_Institution :
Bradley Dept. of Electr. & Comput. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
Volume :
35
Issue :
4
fYear :
2005
Firstpage :
842
Lastpage :
848
Abstract :
An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.
Keywords :
cooperative systems; decentralised control; distributed control; mobile robots; path planning; position control; redundant manipulators; remotely operated vehicles; underwater vehicles; autonomous underwater vehicle control; cooperative systems; distributed control; mobile robots; multiple manipulators; partially decentralized path planning; platoon; real-time trajectory generation; redundant manipulator technique; Bandwidth; Communication system control; Feedback; Manipulators; Mobile robots; Path planning; Real time systems; Remotely operated vehicles; Robot kinematics; Underwater communication; Cooperative systems; distributed control; mobile robots; multiple manipulators; Algorithms; Artificial Intelligence; Cooperative Behavior; Decision Support Techniques; Feedback; Models, Theoretical; Motor Vehicles; Robotics;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/TSMCB.2005.846643
Filename :
1468255
Link To Document :
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