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Swarming Intelligence of 1-Trailer Systems

Raj, Jai and Raghuwaiya, Krishna and Singh, Shonal and Sharma, Bibhya N. and Vanualailai, Jito (2015) Swarming Intelligence of 1-Trailer Systems. In: Advanced Computer and Communication Engineering Technology. Lecture Notes in Electrical Engineering, 362 . Springer International Publishing, Switzerland, pp. 251-264. ISBN 978-3-319-24582-9

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In this paper, we propose a new solution to motion planning and control problem for a flock of 1-trailer systems. A set of artificial potential field functions is proposed for the flock of 1-trailer robots via the Lyapunov-based control scheme for the avoidance of swarm of boids and attraction to their designated targets. The dynamic environment for the first time includes a swarm of boids, which is governed separately by a system of ODE’s. The swarm exhibits collective emergent behaviors in the vicinity of the workspace while the flock of 1-trailer systems safely maneuver from their initial configuration to designated targets. The effectiveness of the control laws is demonstrated via computer simulations. The novelty of the paper lies in the simplicity of the controllers and the ease in the treatment of the dynamic environment.

Item Type: Book Chapter
Additional Information: online ISBN 978-3-319-24584-3, DOI 10.1007/978-3-319-24584-3_21
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Krishna Raghuwaiya
Date Deposited: 20 May 2016 02:50
Last Modified: 23 May 2016 00:14

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