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Collision avoidance command governor for multi‐vehicle unmanned systems
Author(s) -
Tedesco Francesco,
Raimondo Davide M.,
Casavola Alessandro
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.2989
Subject(s) - collision avoidance , governor , control theory (sociology) , computer science , controller (irrigation) , path (computing) , stability (learning theory) , control engineering , collision , engineering , control (management) , artificial intelligence , computer network , aerospace engineering , agronomy , computer security , machine learning , biology
SUMMARY In this paper, we consider the problem of coordinating a collection of autonomous unmanned vehicles while guaranteeing collision avoidance. Each vehicle is regulated by a local controller that ensures stability and provides desired path tracking performance in the absence of constraints. The fulfillment of coordination tasks (e.g., collision avoidance) and local constraints (e.g., input saturation constraints) is achieved through a command governor (CG) strategy that, whenever necessary, modifies the nominal paths of the vehicles. First, a centralized CG approach is proposed and fully analyzed. Then, a more interesting distributed implementation requiring low communication rates is discussed. Both approaches make use of a receding horizon strategy and require the on‐line solution of mixed‐integer optimization programs. Finally, an example is given for illustration purposes. Copyright © 2013 John Wiley & Sons, Ltd.