Flocking with obstacle avoidance in switching networks of interconnected vehicles

The paper introduces a set of nonsmooth control laws that enable a group of vehicles to synchronize their velocity vectors and move as a flock while avoiding collisions with each other and with static obstacles in their environment. In addition, all vehicles converge to a common destination point, a...

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Bibliographic Details
Main Author: Tanner, H.G.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Communication system control
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Exact sciences and technology
Intelligent networks
Mechanical engineering
Mobile agents
Multiagent systems
Multiprocessor interconnection networks
Nearest neighbor searches
Robot kinematics
Vehicles
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Description
Summary:The paper introduces a set of nonsmooth control laws that enable a group of vehicles to synchronize their velocity vectors and move as a flock while avoiding collisions with each other and with static obstacles in their environment. In addition, all vehicles converge to a common destination point, accomplishing a group mission. The proposed control law can steer each vehicle based on local information that can be obtained from within a spherical neighborhood around it. While only the nearest neighbors and obstacles affect a vehicle's motion, as the vehicles move the neighborhoods change discontinuously. The induced discontinuities in the control law of each vehicle do not affect the stability properties of the group collision free motion and connectivity requirements on the interconnection network can be relaxed due to the common objective.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307518