Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the caltech MVWT
B.Q. Nguyen, Yao-Li Chuang, D. Tung, Chung Hsieh, Zhipu Jin, Ling Shi, Daniel E. Marthaler, Andrea Louise Bertozzi, Richard M. Murray · 2005
We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech multi vehicle wireless testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.