Reactive model for autonomous vehicles formation following a mobile reference

Autor(es)

Freitas, Vander L. S. ^[1] ; de Sousa, Fabiano Luis ^[1] ; Macau, Elbert E. N. ^{[1, 2]}

Afiliação do(s) autor(es)

^[1] Natl Inst Space Res, 1758 Av Astronautas, BR-12227010 Sao Jose Dos Campos - Brazil

^[2] Univ Fed Sao Paulo, 1201 Cesare Mansueto Giulio Lattes, BR-12247014 Sao Jose Dos Campos - Brazil

• Tipo de documento: Artigo Científico
• Fonte: Applied Mathematical Modelling; v. 61, p. 167-180, SEP 2018.
• Citações Web of Science: 0

Resumo

The emergence of collective motion in nature is ubiquitous and can be observed from colonies of bacteria to flocks of birds. The scientific community is interested in understanding how the local interactions drive the crowd toward global behaviors. This paper presents an agent-based reactive model for groups of vehicles that aims to make the formation to follow a moving reference, represented as a virtual agent. The model is called reactive because the agents do not keep previous information but only respond to the current system state. Moreover, they only communicate with their close neighbors, limited by their sensory radius, except with the virtual agent that can be seen by everyone at the whole time. The aim of the model is to group the agents around the virtual agent while it moves to desirable directions. We solve the inverse problem of parameter estimation in order to drive the model toward specific objectives. This task is performed with the Generalized Extremal Optimization (GEO) algorithm, and the results are tested with path planning scenarios. (C) 2018 Elsevier Inc. All rights reserved. (AU)

• Processo FAPESP: 17/04552-9 - Sincronização e controle de rede de osciladores caóticos e aplicações ao controle de veículos autônomos móveis em deslocamento de formação
• Beneficiário: Vander Luis de Souza Freitas
• Modalidade de apoio: Bolsas no Brasil - Doutorado
• Processo FAPESP: 15/50122-0 - Fenômenos dinâmicos em redes complexas: fundamentos e aplicações
• Beneficiário: Elbert Einstein Nehrer Macau
• Modalidade de apoio: Auxílio à Pesquisa - Temático