Formation control of multiple UUVs based on virtual leader

Yan, Zheping; Liu, Xiangling; Jiang, Anzuo; Wang, Lu

doi:10.1109/chicc.2016.7554069

Cited by 3 publications

(2 citation statements)

References 16 publications

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“…In this example, δ 3 is introduced such that Equation ( 13) can be applied to conversion. The last three inequalities in Equation ( 15) are derived from Equation (10).…”

Section: Examplementioning

confidence: 99%

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Predictive‐based optimal automatic formation control of mobile vehicles

Zanma

Shunta

Koiwa

et al. 2021

IET Cyber-Syst and Robotics

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In recent years, formation control has received a great deal of attention as one of the most interesting issues in multiple mobile robots systems. In variable formation control systems, multiple mobile vehicles can form an appropriate formation from a list of possible formations, such that all mobile vehicles can pass even when the width of the course is narrow, and simultaneously the vehicles maintain a set distance between the course and each vehicle. This paper presents a predictive-based automatic formation control. In our formation control system, a unique formation is determined from feasible formations at any given sampling point. This control is formulated by its corresponding mixed-integer quadratic programing by introducing binary variables that are used to specify the formation. The effectiveness of the proposed methods is verified by applying two-wheeled mobile vehicles through simulations and experiments.

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“…In this example, δ 3 is introduced such that Equation ( 13) can be applied to conversion. The last three inequalities in Equation ( 15) are derived from Equation (10).…”

Section: Examplementioning

confidence: 99%

“…There exist two main approaches to the formation control of multiple mobile robots: the virtual structure approach [10][11][12][13] and the leader-follower approach [14][15][16][17][18][19][20]. The virtual structure approach is a generally centralised control where the shape of the formation is fixed.…”

Section: Introductionmentioning

confidence: 99%