Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey

Robotics

Huosheng Hu¹  Aakash Soni¹ 

[1] School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK;

关键词: formation control;    leader-follower approach;    consensus control;    behaviour-based approach;    potential field;    swarm intelligence;    machine learning;    model predictive control;    virtual structure approach;    flocking control;   

DOI  :  10.3390/robotics7040067

来源: DOAJ

【 摘 要 】

Autonomous/unmanned driving is the major state-of-the-art step that has a potential to fundamentally transform the mobility of individuals and goods. At present, most of the developments target standalone autonomous vehicles, which can sense the surroundings and control the vehicle based on this perception, with limited or no driver intervention. This paper focuses on the next step in autonomous vehicle research, which is the collaboration between autonomous vehicles, mainly vehicle formation control or vehicle platooning. To gain a deeper understanding in this area, a large number of the existing published papers have been reviewed systemically. In other words, many distributed and decentralized approaches of vehicle formation control are studied and their implementations are discussed. Finally, both technical and implementation challenges for formation control are summarized.

【 授权许可】

Unknown