Navigation of Autonomous Cooperative Vehicles for Inference and Interactive Sensing

Cooperative micro-robotic scent tracking vehicles are designed to collectively “sniff out” locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper, a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

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Negotiation of drivable areas of cooperative vehicles for conflict resolution

2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC) ◽

10.1109/itsc.2017.8317765 ◽

2017 ◽

Cited By ~ 2

Author(s):

Stefanie Manzinger ◽

Matthias Althoff

Keyword(s):

Conflict Resolution ◽

Cooperative Vehicles

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Multi-UUVs Team Line Formation Control by a Behaviour-Based Method with Fuzzy Logic Adapters

Advances in Science and Technology ◽

10.4028/www.scientific.net/ast.58.165 ◽

2008 ◽

Vol 58 ◽

pp. 165-170 ◽

Cited By ~ 1

Author(s):

Yan Hou ◽

Robert Allen

Keyword(s):

Fuzzy Logic ◽

Formation Control ◽

Low Cost ◽

Line Formation ◽

Team Cooperation ◽

Priority Weights ◽

Formation Pattern ◽

The Cost ◽

Cooperative Vehicles ◽

Real Vehicle

A team of low-cost underwater vehicles could cover an area quickly, e.g. for pollution detection and clearance and benefit from the advantages of formation control, for example it can reduce the cost, increase the robustness and efficiency. In previous work, we have investigated behaviour-based rules with fuzzy logic controlled priority weights for multi-UUVs team cooperation. The goal of this paper is to examine whether the behaviour-based rules can control the line formation of the team when each member is represented by a dynamic manoeuvring model of a real vehicle. Fuzzy logic controllers are applied to update the priority weights for the behavioural rules according to different situations that the vehicles meet in real time. The cooperative mission scenarios with line formation pattern are simulated and the results indicate that the approach can potentially help to maintain the cooperative vehicles in a specified line formation.

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