We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination constraints, and equality/inequality geometric constraints. We develop a general framework involving differential-algebraic equations and viability theory to determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and different types of coordination task constraints. If a coordinated motion solution exists for the derived differential-algebraic equations and/or inequalities, a constructive algorithm is proposed to derive an equivalent dynamical system that generates a set of feasible coordinated motions for each individual vehicle. In case studies on coordinating two vehicles, we derive analytical solutions to motion generation for two-vehicle groups consisting of car-like vehicles, unicycle vehicles, or vehicles with constant speeds, which serve as benchmark coordination tasks for more complex vehicle groups. The motion generation algorithm is well-backed by simulation data for a wide variety of coordination situations involving heterogeneous vehicles. We then extend the vehicle control framework to deal with the cooperative coordination problem with time-varying coordination tasks and leader-follower structure. We show several simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed schemes.
翻译:我们考虑多种不同机动车辆的合作行动协调问题,这些限制包括:非单体运动限制、固定速度限制、合金协调限制、平等/不平等几何限制;我们制定了一个涉及不同热量方程式和可行性理论的总框架,以确定在不同机动车辆动态和不同类型协调任务限制下协调行动控制的协调可行性;如果对不同的机动车辆有不同热量方程式和/或不平等的模拟数据,则提出一个建设性的算法,以产生一个对等的动态系统,为每部机动车辆产生一套可行的协调行动;在对两部车辆进行协调的案例研究中,我们为由类似汽车、单车车辆或固定速度车辆组成的两部车辆组的机动生产提出分析解决办法,作为较复杂的车辆组的基准协调任务;机动车生成算法得到不同机动车辆各种协调情况的模拟数据的支持;然后,我们扩大车辆控制框架,处理合作协调问题,处理时间相移的协调任务和领导人跟踪结构。在各种制约下,我们展示了多种机动车辆协调的模拟实验计划。