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Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

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9 Author(s)
B. Q. Nguyen ; Dept. of Electr. Eng., UCLA, Los Angeles, CA, USA ; Yao-Ling Chuang ; D. Tung ; Chung Hsieh
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We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech multi vehicle wireless testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

Published in:

Proceedings of the 2005, American Control Conference, 2005.

Date of Conference:

8-10 June 2005