Artificial potential field algorithm for path control of unmanned ground vehicles formation in highway

The artificial potential field algorithm for path control of unmanned ground vehicles formation in highway is proposed. First, the basic unit is derived from decomposition-iteration principle to improve formation stability and flexibility. Then, the virtual-leader potential field (VLPF) and vehicle-...

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Veröffentlicht in:Electronics letters Jg. 54; H. 20; S. 1166 - 1168
Hauptverfasser: Wang, Shufeng, Zhang, Junxin, Zhang, Junyou
Format: Journal Article
Sprache:Englisch
Veröffentlicht: The Institution of Engineering and Technology 04.10.2018
Schlagworte:
artificial potential field algorithm
collision avoidance
Control engineering
decomposition‐iteration principle
ellipse orientation
formation path generation
formation stability
iterative methods
mobile robots
path control
remotely operated vehicles
road vehicles
stability
unmanned ground vehicles formation
vehicle‐vehicle potential field
virtual‐leader potential field
VLPF function boundary
collision avoidance
iterative methods
vehicle-vehicle potential field
mobile robots
unmanned ground vehicles formation
formation stability
remotely operated vehicles
artificial potential field algorithm
path control
VLPF function boundary
road vehicles
ellipse orientation
decomposition-iteration principle
virtual-leader potential field
formation path generation
stability
ISSN:0013-5194, 1350-911X, 1350-911X
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Beschreibung
Zusammenfassung:The artificial potential field algorithm for path control of unmanned ground vehicles formation in highway is proposed. First, the basic unit is derived from decomposition-iteration principle to improve formation stability and flexibility. Then, the virtual-leader potential field (VLPF) and vehicle-vehicle potential field are combined to generate the formation path in straight highway. Especially the VLPF function boundary is set as ellipse to adapt the highway environment. Finally, the formation in curved highway can be achieved through changing the ellipse's orientation and dimension. Simulation results demonstrate the effectiveness of the proposed algorithm.
ISSN:0013-5194
1350-911X
1350-911X
DOI:10.1049/el.2018.5018