A cooperative target-fencing protocol of multiple vehicles. (September 2019)

• Record Type: Journal Article
• Authors: Chen, Zhiyong
• Is Part Of: Automatica. Volume 107(2019)
• Page Start: 591
• Page End: 594
• Publication Date: 2019-09
• Subjects: Autonomous vehicles -- Networks -- Multi-agent systems -- Formation control -- Collision avoidance; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2019.05.034
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: A class of cooperative controllers is designed for a group of autonomous vehicles, using the relative positions between geographical neighbors and a specified target. The controller is equipped with three components: attractive component that drives each vehicle towards the target, repulsive component between adjacent vehicles, and rotation component for neighbored vehicles aligned with the target in a straight line. It is proved that the vehicles with the proposed autonomous controller can asymptotically fence a specified target to their convex hull. Meanwhile, the vehicles do not collide and they are not stuck in a singleton formation.