Basic concepts and methods for keeping autonomous ground vehicleformations
Moscovitz, Y.; DeClaris, N.
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Volume , Issue , 14-17 Sep 1998 Page(s):44 - 49
Digital Object Identifier 10.1109/ISIC.1998.713633
Summary:A desirable basic behavior of a group of autonomous vehicles while
in motion is to keep a predefined formation. Normally units are trained
to move in formation according to an operational status. Past experience
determines the formation for given situations. In this paper, we discuss
concepts pertinent to the theory and design of autonomous vehicles
moving in formation. Specifically: 1) we present the basic idea of
controlling the behavior of autonomous vehicles to keep them in
prespecified formation, 2) we examine difficulties in keeping the
formation caused by path shapes and obstacles in the path of the
vehicles and due to the kinematics and dynamics of the individual
vehicle, and 3) we discuss concepts relevant to reformation transitions
following temporary changes in the formation caused by the terrain
properties and the presence of obstacles
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