Tác giả: Khac Duc Do
Nhà xuất bản: Khoa học kỹ thuật
Giá bìa:99,000
Giá bán:99,000
Năm xuất bản: Quý IV / 2007

Over the last few years, formation eontrol of multiple vehicles has received a lot of attention from the control community. Applications of vehicle formation control include the coordination of multiple robots, unmanned air/ocean vehieles, satellites, aircraft and spacecraft

Over the last few years, formation eontrol of multiple vehicles has received a lot of attention from the control community. Applications of vehicle formation control include the coordination of multiple robots, unmanned air/ocean vehieles, satellites, aircraft and spacecraft [l]-[28]. For example, a eooperative mobile sensor network, where each mobile robot serves as a mobile sensor, is expeeted to outperform a single large vehicle with multiple sensors or a collection of independent vehicles when tbe objective is to climb the gradient of an environmental field. The single, heavily equipped vehicle may require considerable power to operate its sensor payload, it lacks robustness to vehicle failure and it cannot adapt the configuration or resolution of the sensor array. An independent vehicle with a single sensor may need to perform costly maneuvers to effectively climb a gradient, for instance, wandering significantly to collect rich enough data much like the "run and tumble" behavior of flagellated bacteria. In military missions, a group of autonomous vehieles are required to keep in a speeified formation for area coverage and reconnaissance. In automated highway system, the throughput of the transportation network can be greatly increased if vehicles can form to platoons at a desired velocity while keeping a specified distance between vehicles. Researeh o­n fomiation eontrol also helps people to better understand some biological social behaviors, such as swarm of inseets and flocking of birds. In the literature, there have been roughly three methods to formation control of multiple vehieles: leader-following, behavioral and virtual structure. Each method has its own advantages and disadvantages.