A co-operative formation-based collision avoidance approach for a group of autonomous vehicles (Special Issue on Adaptive Control and Signal Processing in Marine System)

Aolei Yang, Wasif Naeem, Minrui Fei, Xiaowei Tu

Research output: Contribution to journalArticle

3 Citations (Scopus)
342 Downloads (Pure)

Abstract

This paper employs a unique decentralised cooperative control method to realise a formation-based collision avoidance strategy for a group of autonomous vehicles. In this approach, the vehicles' role in the formation and their alert and danger areas are first defined, and the formation-based intra-group and external collision avoidance methods are then proposed to translate the collision avoidance problem into the formation stability problem. The extension–decomposition–aggregation formation control method is next employed to stabilise the original and modified formations, whilst manoeuvring, and subsequently solve their collision avoidance problem indirectly. Simulation study verifies the feasibility and effectiveness of the intra-group and external collision avoidance strategy. It is demonstrated that both formation control and collision avoidance problems can be simultaneously solved if the stability of the expanded formation including external obstacles can be satisfied.
Original languageEnglish
Pages (from-to)489-506
Number of pages17
JournalInternational Journal of Adaptive Control and Signal Processing
Volume31
Issue number4
Early online date12 May 2015
DOIs
Publication statusPublished - Apr 2017

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