Article

Article title PATH PLANNING FOR A GROUP OF VEHICLES IN THE 2–D ENVIRONMENT WITH OBSTACLES
Authors V.Kh. Pshikhopov, М.Yu. Medvedev
Section SECTION I. TECHNOLOGY MANAGEMENT AND MODELING
Month, Year 02, 2016 @en
Index UDC 681.5.013
DOI
Abstract The problem of distributed control of heterogeneous group of vehicles in the environment with obstacles is considered. The control algorithms are based on kinematics equations of vehicles in a two dimensional environment. The proposed algorithms are based on the principle of allowing all neighboring robot objects as repeller. The proposed method of decentralized group control is based on the simple local control algorithms. A new approach for forming repellers is discussed. In contrast to the known methods for forming repeller, repulsive forces are generated at the output of dynamic system that allows the synthesis in the state space, and not in geometrical space. Results of the proposed algorithms are velocities and heading angles of the controlled vehicles. By means of a method of functions of Lyapunov the analysis of the received movement trajectories on stability is carried out. Existence and asymptotic stability of the steady state of the movement of vehicles group is shown. The modification of algorithms of planning which isn"t demanding a preliminary references is offered. The developed algorithms are realized within the decentralized structure of a control system. Numerical modeling of the group consisting of five robots in the environment with motionless obstacles is carried out. On the basis of the carried-out analysis and results of modeling conclusions about applicability of the offered method in practice are drawn. The development of the offered trajectories planning method of the movement assuming use as the kinematics equations, and dynamics equations that will allow to consider speeds of rapprochement with obstacles is discussed. Also possibility of use of the offered method in three-dimensional environments and Wednesdays is discussed with mobile obstacles.

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Keywords Group control; vehicle; decentralized control; repeller; unstable mode; function of Lyapunov.
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