arXiv Open Access 2024

Distributed Coordination for Multi-Vehicle Systems in the Presence of Misbehaving Vehicles

Dongkun Han Yijun Huang Hejun Huang Tianrui Fang

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Abstrak

The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and some specific control objectives, including collision avoidance, connectivity maintenance and convergence to desired destinations. The basic idea is to develop a proper Lyapunov-like barrier function for all tasks and a distributed controller could be built in the presence of misbehaving vehicles. Control protocols are provided for both leader vehicle and follower vehicles. The simulation results demonstrate the effectiveness of proposed method.

Topik & Kata Kunci

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Penulis (4)

Dongkun Han

Yijun Huang

Hejun Huang

Tianrui Fang

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APA MLA BibTeX

Han, D., Huang, Y., Huang, H., Fang, T. (2024). Distributed Coordination for Multi-Vehicle Systems in the Presence of Misbehaving Vehicles. https://arxiv.org/abs/2410.05793

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Informasi Jurnal

Tahun Terbit: 2024
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓