Title: Cooperative constrained motion coordination of networked heterogeneous vehicles Show Chinese title

Title: 网络化异构车辆的协作约束运动协调

Abstract: 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. Show Chinese abstract

Abstract: 我们考虑在各种约束条件下，多个异构移动车辆的协作运动协调问题。 这些包括非完整运动约束、恒定速度约束、完整协调约束以及等式/不等式几何约束。 我们开发了一个涉及微分代数方程和可行性理论的通用框架，以确定在异构车辆动力学和不同类型的协调任务约束下的协调可行性。 如果推导出的微分代数方程和/或不等式存在协调运动解，则提出一种构造性算法，以推导出一个等效的动力系统，该系统为每个单独的车辆生成一组可行的协调运动。 在对两辆车辆进行的案例研究中，我们推导了由汽车类车辆、单轮车或恒速车辆组成的两辆车辆组的运动生成解析解，这些解作为更复杂车辆组的基准协调任务。 运动生成算法得到了广泛协调情况下的仿真数据的支持，这些情况涉及异构车辆。 然后，我们将车辆控制框架扩展以处理具有时变协调任务和领航-跟随结构的协同协调问题。 我们展示了在各种约束下多车辆协调的几个仿真实验，以验证理论和所提出方案的有效性。