Title :
Kinematic Control of Platoons of Autonomous Vehicles
Author :
Antonelli, Gianluca ; Chiaverini, Stefano
Author_Institution :
DAEIMI, Univ. degli Studi di Cassino
Abstract :
In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies
Keywords :
mobile robots; motion control; multi-robot systems; robot kinematics; vehicles; autonomous vehicle platoon; intervehicle communication; kinematic control; motion control; numerical simulation case studies; singularity-robust task-priority inverse kinematics; suitable task functions; two-stage control architecture; Centralized control; Communication system control; Control systems; Mobile robots; Motion control; Multirobot systems; Numerical simulation; Remotely operated vehicles; Robot kinematics; Shape control; Closed-loop inverse kinematics; formation control; multirobot systems; platoon of vehicles;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.886272
