排他機構を組み込んだコンセンサス制御による協調的自動駐車システム

概要

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A cooperative parking system based on consensus control and mutual exclusion mechanism is developed. The system incorporates the idea of consensus control that has been actively studied in the field of multi-agent control in order to balance the amount of time required for parking. Moreover, the notion of exclusive region is newly introduced to avoid collisions at junctions. The system is evaluated through large-scale simulations and field tests in which multiple personal electric vehicles share position and velocity information via wireless communication network.
公益社団法人計測自動制御学会の論文