Coordinated collision avoidance for multi‐vehicle systems based on collision time

Abstract

Vehicles have irregular shapes and inter-vehicle coordination is not a trivial task. Based on the distributed-system framework, this paper studies multi-vehicle control and coordinated obstacle avoidance for multiple autonomous vehicles with irregular shapes. The goal is to reach target points without collisions. The proposed approaches are based on collision time, which is calculated using vehicles' irregular shapes. The approaches have two parts. The first part enables a number of vehicles to reach the target points. The second part enables collision avoidance, which includes inter-vehicle collisions and vehicle-to-obstacle collisions. Speed regulation approach is proposed to change the speeds, and frequencymodulation approach is proposed to update control commands at varying steps, and a combined approach is also proposed. Simulation examples are set to verify the effectiveness of the proposed approaches.

Switching threshold event‐triggered critic algorithm for optimal orbit tracking and formation motion

“…Within the broad and prevailing applications of vehicle swarms, including air-ground unmanned vehicle cooperation [1], unmanned aerial vehicle coordinated collision avoidance [2], distributed tracking of competitive autonomous underwater vehicles [3] and multiple spacecraft flight formation [4], the desired orbit tracking and formation motion control problem, that is, multiple unmanned vehicles (MUVs) tracking a level of orbits and forming into certain formation, has received much attention. In the literature, many results of formation control have been given based on the traditional control theory [5][6][7].…”