Coordinated transportation of a group of unmanned ground vehicles

	Coordinated transportation of a group of unmanned ground vehicles
	Long Cheng; Zeng-Guang Hou; Min Tan; Hongnian Yu
	2015
会议名称	34th Chinese Control Conference (CCC)
会议日期	JUL 28-30, 2015
会议地点	Hangzhou
会议举办国	China
摘要	This paper studies a coordinated transportation problem of a group of unmanned ground vehicles (UGVs). These ground vehicles belong to two categories: master vehicles and slave vehicles. A two-step strategy is proposed to solve this problem. First, let the master vehicles move along ideal trajectories. Then, let the slave vehicles move into the area surrounded by master vehicles and move together with them. By the two-step strategy, the coordinated transportation problem is divided into a tracking problem and a containment problem. A PIn-type tracking protocol and a PIn-type containment protocol (P and I stand for Proportion and Integration, respectively; I-n implies that the protocol includes high-order integral terms) are proposed to solve these two problems. It is proved that the coordinated transportation problem can be solved by two proposed protocols with proper parameters if for each follower there exists at least one leader which has a directed path to this follower. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed algorithms.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23140
专题	复杂系统认知与决策实验室_先进机器人
推荐引用方式 GB/T 7714	Long Cheng,Zeng-Guang Hou,Min Tan,et al. Coordinated transportation of a group of unmanned ground vehicles[C],2015.