Title

A New Multi-Objective Control Design For Autonomous Vehicles

Keywords

Cooperative motion; Obstacle avoidance; Oscillation suppression; Tracking of virtual leader

Abstract

In this chapter, a nonlinear control design is proposed for a team of wheeled mobile robots to cooperate in a dynamically evolving environment to track their virtual leader(s), while avoiding static and dynamic obstacles. Toward this end, a multi-objective control problem is formulated, and the control is synthesized by generating a potential field force for each objective and combining them through analysis and design. To the best of our knowledge, the proposed design is the first systematic approach to accommodate and achieve the multiple objectives of cooperative motion, tracking virtual command vehicle(s), obstacle avoidance, and oscillation suppression. Basic conditions and key properties are derived using rigorous Lyapunov analysis and theoretical proof. The results are illustrated by several simulation examples including cooperative motion of a team of vehicles moving through urban settings with static and moving obstacles, as well as narrow passages. © 2009 Springer Berlin Heidelberg.

Publication Date

1-1-2009

Publication Title

Lecture Notes in Control and Information Sciences

Volume

381

Number of Pages

81-102

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/978-3-540-88063-9_5

Socpus ID

54349120022 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/54349120022

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