Cooperative constrained motion coordination of networked heterogeneous vehicles
Eindhoven University of Technology（埃因霍温理工大学）；Eindhoven Artificial Intelligence Systems Institute（埃因霍温人工智能系统研究所）；Lund University（隆德大学）；The Australian National University（澳大利亚国立大学）
Zhiyong Sun, Marcus Greiff, Anders Robertsson, Rolf Johansson, Brian D. O. Anderson
备注：
23 pages, 4 figures. Extended version of the paper at IEEE ICRA. Text overlap with arXiv:1809.05509. Submitted to an IEEE journal for publication
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination constraints, and equality/inequality geometric constraints. We develop a general framework involving differential-algebraic equations and viability theory to determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and different types of coordination task constraints. If a coordinated motion solution exists for the derived differential-algebraic equations and/or inequalities, a constructive algorithm is proposed to derive an equivalent dynamical system that generates a set of feasible coordinated motions for each individual vehicle. In case studies on coordinating two vehicles, we derive analytical solutions to motion generation for two-vehicle groups consisting of car-like vehicles, unicycle vehicles, or vehicles with constant speeds, which serve as benchmark coordination tasks for more complex vehicle groups. The motion generation algorithm is well-backed by simulation data for a wide variety of coordination situations involving heterogeneous vehicles. We then extend the vehicle control framework to deal with the cooperative coordination problem with time-varying coordination tasks and leader-follower structure. We show several simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed schemes.
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Technical University of Munich（慕尼黑工业大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Tongji University（同济大学）；Shanghai Yangzhi Rehabilitation Hospital（上海市养志康复医院）；University of Science and Technology of China（中国科学技术大学）；The Hong Kong Polytechnic University（香港理工大学）
