中国科学院自动化研究所机构知识库

We design a framework for a group of 
autonomous  smart cars that allows them to   come into  a 
formation  and for one to   join the formation  or   le ave  the 
formation  (we call it CJL) .  We propose a concept  of   swi tch ing 
distance to make the formation change more smoothly.  Be cause 
a  control input of any one of  cars   is constrained  for a CJL,  we 
will  discuss its  control  algorithms .  S ome simulations will be 
shown   in thi s   pape r.  The y  will prove that the ability of the 
framework to realize a formation control .