Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-02
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper investigates a framework of real-time formation of autonomous vehicles by using potential field and variational integrator.
Real-time formation requires vehicles to have coordinated motion and efficient computation.
Interactions described by potential field can meet the former requirement which results in a nonlinear system.
Stability analysis of such nonlinear system is difficult.
Our methodology of stability analysis is discussed in error dynamic system.
Transformation of coordinates from inertial frame to body frame can help the stability analysis focus on the structure instead of particular coordinates.
Then, the Jacobian of reduced system can be calculated.
It can be proved that the formation is stable at the equilibrium point of error dynamic system with the effect of damping force.
For consideration of calculation, variational integrator is introduced.
It is equivalent to solving algebraic equations.
Forced Euler-Lagrange equation in discrete expression is used to construct a forced variational integrator for vehicles in potential field and obstacle environment.
By applying forced variational integrator on computation of vehicles' motion, real-time formation of vehicles in obstacle environment can be implemented.
Algorithm based on forced variational integrator is designed for a leader-follower formation.
American Psychological Association (APA)
Yang, Shengqing& Yu, Jianqiao. 2014. Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-484185
Modern Language Association (MLA)
Yang, Shengqing& Yu, Jianqiao. Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field. Mathematical Problems in Engineering No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-484185
American Medical Association (AMA)
Yang, Shengqing& Yu, Jianqiao. Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-484185
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-484185