仮想リーダの軌道と速度を用いた拡張リーダ追従型隊列誘導

概要

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In recent years, formation control has attracted considerable interest among control engineers. As one of the formation control methods, we deal with the leader-following formation navigation (LFFN).The LFFN is defined such that a human operator or an autonomous leader robot forms a queue of robots to guide multiple followers. The followers pass along the leader's trajectory with the same motion as the leader. When the leader passes along a safe route to avoid obstacles, the followers also pass along similar safe trajectory. However, when using the LFFN, the followers can shape only a single column formation.In this study, we deal with an extension of the LFFN using by parallel single columns which adjoining virtual leaders passed. Next, we consider virtual leaders adjoining the leader to design virtual trajectories along which virtual leaders pass and virtual leader's velocities on the ones' path. We design the followers' target points which track the virtual leader's path with designed virtual velocity. Using our proposed method, the followers can avoid obstacles within the leader's path and shape a formation which is not a single column type. Finally, we demonstrate the effectiveness of our newly proposed methodthrough simulation and experimentation.
函館工業高等専門学校の論文