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Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey

Soni, Aakash and Hu, Huosheng (2018) 'Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey.' Robotics, 7 (4). ISSN 2218-6581

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Abstract

Autonomous/unmanned driving is the major state-of-the-art step that has a potential to fundamentally transform the mobility of individuals and goods. At present, most of the developments target standalone autonomous vehicles, which can sense the surroundings and control the vehicle based on this perception, with limited or no driver intervention. This paper focuses on the next step in autonomous vehicle research, which is the collaboration between autonomous vehicles, mainly vehicle formation control or vehicle platooning. To gain a deeper understanding in this area, a large number of the existing published papers have been reviewed systemically. In other words, many distributed and decentralized approaches of vehicle formation control are studied and their implementations are discussed. Finally, both technical and implementation challenges for formation control are summarized.

Item Type: Article
Uncontrolled Keywords: formation control, leader-follower approach, consensus control, behaviour-based approach, potential field, swarm intelligence, machine learning, model predictive control, virtual structure approach, flocking control
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 22 Nov 2018 16:10
Last Modified: 22 Nov 2018 16:10
URI: http://repository.essex.ac.uk/id/eprint/23518

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