- Title
- A cooperative target-fencing protocol of multiple vehicles
- Creator
- Chen, Zhiyong
- Relation
- Automatica Vol. 107, p. 591-594
- Publisher Link
- http://dx.doi.org/10.1016/j.automatica.2019.05.034
- Publisher
- Elsevier
- Resource Type
- journal article
- Date
- 2019
- Description
- 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.
- Subject
- autonomous vehicles; networks; multi-agent systems; formation control; collision avoidance
- Identifier
- http://hdl.handle.net/1959.13/1429615
- Identifier
- uon:38727
- Identifier
- ISSN:0005-1098
- Rights
- © 2019. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/.
- Language
- eng
- Full Text
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