Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking

Z. SUN; M. J. ZHANG; X. H. LIAO; W. C. CAI; Y. D. SONG

doi:10.1007/978-3-540-72383-7_92

Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking

Z. SUN^*
, M. J. ZHANG
, X. H. LIAO
, W. C. CAI
, Y. D. SONG

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

Abstract

This paper presents a neuro intelligent virtual leader based approach for close formation of a group of mobile vehicles. Neural Network-based trajectory planning is incorporated into the leading vehicle so that an optimal reference path is generated automatically by the virtual leader, which guides the whole team vehicles to the area of interest as precisely as possible. The steering control scheme is derived based on the structural properties of the vehicle dynamics. Simulation on multiple vehicles formation is conducted as a verification of the effectiveness of the proposed method. © Springer-Verlag Berlin Heidelberg 2007.

Original language	English
Title of host publication	Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings
Editors	Derong LIU, Shumin FEI, Zeng-Guang HOU, Huaguang ZHANG, Changyin SUN
Publisher	Springer Berlin Heidelberg
Pages	786-795
Number of pages	10
ISBN (Electronic)	9783540723837
ISBN (Print)	9783540723820
DOIs	https://doi.org/10.1007/978-3-540-72383-7_92
Publication status	Published - 2007
Externally published	Yes

Keywords

Chaos
algorithm
algorithms
communication
data mining
fuzzy
fuzzy system
learning
modeling
optimization
programming
robot
robotics
system modeling
algorithm analysis and problem complexity

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10.1007/978-3-540-72383-7_92

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SUN, Z., ZHANG, M. J., LIAO, X. H., CAI, W. C., & SONG, Y. D. (2007). Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking. In D. LIU, S. FEI, Z.-G. HOU, H. ZHANG, & C. SUN (Eds.), Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings (pp. 786-795). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-540-72383-7_92

SUN, Z. ; ZHANG, M. J. ; LIAO, X. H. et al. / Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking. Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. editor / Derong LIU ; Shumin FEI ; Zeng-Guang HOU ; Huaguang ZHANG ; Changyin SUN. Springer Berlin Heidelberg, 2007. pp. 786-795

@inproceedings{2e7992256acd4b9abc2d283107341a4f,

title = "Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking",

abstract = "This paper presents a neuro intelligent virtual leader based approach for close formation of a group of mobile vehicles. Neural Network-based trajectory planning is incorporated into the leading vehicle so that an optimal reference path is generated automatically by the virtual leader, which guides the whole team vehicles to the area of interest as precisely as possible. The steering control scheme is derived based on the structural properties of the vehicle dynamics. Simulation on multiple vehicles formation is conducted as a verification of the effectiveness of the proposed method. {\textcopyright} Springer-Verlag Berlin Heidelberg 2007.",

keywords = "Chaos, algorithm, algorithms, communication, data mining, fuzzy, fuzzy system, learning, modeling, optimization, programming, robot, robotics, system modeling, algorithm analysis and problem complexity",

author = "Z. SUN and ZHANG, \{M. J.\} and LIAO, \{X. H.\} and CAI, \{W. C.\} and SONG, \{Y. D.\}",

year = "2007",

doi = "10.1007/978-3-540-72383-7\_92",

language = "English",

isbn = "9783540723820",

pages = "786--795",

editor = "Derong LIU and Shumin FEI and Zeng-Guang HOU and Huaguang ZHANG and Changyin SUN",

booktitle = "Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings",

publisher = "Springer Berlin Heidelberg",

}

SUN, Z, ZHANG, MJ, LIAO, XH, CAI, WC & SONG, YD 2007, Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking. in D LIU, S FEI, Z-G HOU, H ZHANG & C SUN (eds), Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. Springer Berlin Heidelberg, pp. 786-795. https://doi.org/10.1007/978-3-540-72383-7_92

Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking. / SUN, Z.; ZHANG, M. J.; LIAO, X. H. et al.
Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. ed. / Derong LIU; Shumin FEI; Zeng-Guang HOU; Huaguang ZHANG; Changyin SUN. Springer Berlin Heidelberg, 2007. p. 786-795.

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

TY - GEN

T1 - Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking

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AU - ZHANG, M. J.

AU - LIAO, X. H.

AU - CAI, W. C.

AU - SONG, Y. D.

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AB - This paper presents a neuro intelligent virtual leader based approach for close formation of a group of mobile vehicles. Neural Network-based trajectory planning is incorporated into the leading vehicle so that an optimal reference path is generated automatically by the virtual leader, which guides the whole team vehicles to the area of interest as precisely as possible. The steering control scheme is derived based on the structural properties of the vehicle dynamics. Simulation on multiple vehicles formation is conducted as a verification of the effectiveness of the proposed method. © Springer-Verlag Berlin Heidelberg 2007.

KW - Chaos

KW - algorithm

KW - algorithms

KW - communication

KW - data mining

KW - fuzzy

KW - fuzzy system

KW - learning

KW - modeling

KW - optimization

KW - programming

KW - robot

KW - robotics

KW - system modeling

KW - algorithm analysis and problem complexity

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DO - 10.1007/978-3-540-72383-7_92

M3 - Conference paper (refereed)

AN - SCOPUS:37449006572

SN - 9783540723820

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EP - 795

BT - Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings

A2 - LIU, Derong

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A2 - HOU, Zeng-Guang

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A2 - SUN, Changyin

PB - Springer Berlin Heidelberg

ER -

SUN Z, ZHANG MJ, LIAO XH, CAI WC, SONG YD. Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking. In LIU D, FEI S, HOU ZG, ZHANG H, SUN C, editors, Advances in Neural Networks: ISNN 2007: 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. Springer Berlin Heidelberg. 2007. p. 786-795 doi: 10.1007/978-3-540-72383-7_92

Neuro-adaptive formation control of multi-mobile vehicles: Virtual leader based path planning and tracking

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Keywords

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