Control Method for Heterogeneous Vehicle Groups Control in Obstructed 2-D Environments

摘要

The article considers the problem of distributed control for a group of heterogeneous vehicles. A survey of tasks and group control methods is given. A problem is posed to synthesize a local control algorithm ensuring motion if a heterogeneous group in a 2D environment with nonstationary obstacles. The algorithm is used to calculate the required speed and robot's heading. A principle is used that allows us to treat all the neighboring objects as repellers. Unlike the known methods, in the proposed approach the repelling forces are formed at the outputs of dynamic units allowing us to perform synthesis in the state space instead of a geometric space. Motion steady state modes analysis of the planned paths is performed and their stability is considered. The presented results allows to improve the operation of the robot safety among human environment.