A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance

doi:10.1109/JAS.2021.1004263

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	A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance
	Xiaohua Ge; Qing-Long Han; Jun Wang; Xian-Ming Zhang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:6 页码:990-1004
摘要	This paper deals with the problem of distributed formation tracking control and obstacle avoidance of multi-vehicle systems (MVSs) in complex obstacle-laden environments. The MVS under consideration consists of a leader vehicle with an unknown control input and a group of follower vehicles, connected via a directed interaction topology, subject to simultaneous unknown heterogeneous nonlinearities and external disturbances. The central aim is to achieve effective and collision-free formation tracking control for the nonlinear and uncertain MVS with obstacles encountered in formation maneuvering, while not demanding global information of the interaction topology. Toward this goal, a radial basis function neural network is used to model the unknown nonlinearity of vehicle dynamics in each vehicle and repulsive potentials are employed for obstacle avoidance. Furthermore, a scalable distributed adaptive formation tracking control protocol with a built-in obstacle avoidance mechanism is developed. It is proved that, with the proposed protocol, the resulting formation tracking errors are uniformly ultimately bounded and obstacle collision avoidance is guaranteed. Comprehensive simulation results are elaborated to substantiate the effectiveness and the promising collision avoidance performance of the proposed scalable adaptive formation control approach.
关键词	Adaptive control collision avoidance distributed formation control multi-vehicle systems neural networks obstacle avoidance repulsive potential
DOI	10.1109/JAS.2021.1004263
引用统计	被引频次：35[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/47567
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Xiaohua Ge,Qing-Long Han,Jun Wang,et al. A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(6):990-1004.
APA	Xiaohua Ge,Qing-Long Han,Jun Wang,&Xian-Ming Zhang.(2022).A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance.IEEE/CAA Journal of Automatica Sinica,9(6),990-1004.
MLA	Xiaohua Ge,et al."A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance".IEEE/CAA Journal of Automatica Sinica 9.6(2022):990-1004.

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