This paper proposes a formation control algorithm to enhance the scalability and stability of the group of unmanned vehicles, while accommodating the dynamic arrival and departure of vehicles. Each agent maintains an auxiliary variable for all neighboring individuals to store historical information, effectively eliminating the legacy information after any departure. Additionally, we improve traditional velocity obstacle method to ensure safe operation during group movements by incorporating a safety radius to define a safety action zone, adding road limits during velocity selection, and setting a perception radius to reduce computational load. Numerical simulations are performed to verify the effectiveness of the algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Collaborative Formation Control of Unmanned Vehicles in Open Environments


    Contributors:
    Xu, Zhiyue (author) / Lv, Yuezu (author) / Bao, Yuangui (author)


    Publication date :

    2024-10-18


    Size :

    1051933 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Collaborative Solutions for Unmanned Aerial Vehicles

    Fabra, Francisco / Sanguesa, Julio A. / Zamora, Willian et al. | Springer Verlag | 2021


    Adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust

    Wang, Rui / Liu, Jinkun | British Library Online Contents | 2017


    Collaborative Unmanned Vehicles for Maritime Domain Awareness

    A. J. Healey / D. P. Horner / S. P. Kragelund | NTIS | 2005


    Middleware requirements for collaborative unmanned aerial vehicles

    Mohamed, Nader / Al-Jaroodi, Jameela / Jawhar, Imad et al. | IEEE | 2013