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http://dx.doi.org/10.12989/anr.2022.13.6.587

Multi-system vehicle formation control based on nearest neighbor trajectory optimization  

Mingxia, Huang (School of Transportation and Geomaitics Engineering, Shenyang Jianzhu University)
Yangyong, Liu (College of Intelligent Manufacturing and Automotive, Chongqing Vocational College of Transportation)
Ning, Gao (School of Transportation and Geomaitics Engineering, Shenyang Jianzhu University)
Tao, Yang (China railway Shenyang Bureau Group Co., Ltd)
Publication Information
Advances in nano research / v.13, no.6, 2022 , pp. 587-597 More about this Journal
Abstract
In the present study, a novel optimization method in formation control of multi -system vehicles based on the trajectory of the nearest neighbor trajectory is presented. In this regard, the state equations of each vehicle and multisystem is derived and the optimization scheme based on minimizing the differences between actual positions and desired positions of the vehicles are conducted. This formation control is a position-based decentralized model. The trajectory of the nearest neighbor are optimized based on the current position and state of the vehicle. This approach aids the whole multi-agent system to be optimized on their trajectory. Furthermore, to overcome the cumulative errors and maintain stability in the network a semi-centralized scheme is designed for the purpose of checking vehicle position to its predefined trajectory. The model is implemented in Matlab software and the results for different initial state and different trajectory definition are presented. In addition, to avoid collision avoidance and maintain the distances between vehicles agents at a predefined desired distances. In this regard, a neural fuzzy network is defined to be utilized in conjunction with the control system to avoid collision between vehicles. The outcome reveals that the model has acceptable stability and accuracy.
Keywords
formation control; multi-system vehicle; nearest neighbor; optimization;
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Times Cited By KSCI : 8  (Citation Analysis)
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86 Habibi, M., Hashemi, R., Ghazanfari, A., Naghdabadi, R. and Assempour, A. (2018a), "Forming limit diagrams by including the M-K model in finite element simulation considering the effect of bending", Proceedings of the Institution of Mechanical Engineers, Part L: Journal of Materials: Design and Applications, 232(8), 625-636.   DOI
87 Habibi, M., Hashemi, R., Sadeghi, E., Fazaeli, A., Ghazanfari, A. and Lashini, H. (2016), "Enhancing the mechanical properties and formability of low carbon steel with dual-phase microstructures", J. Mat. Eng. Perform., 25(2), 382-389. https://doi.org/10.1007/s11665-016-1882-1   DOI
88 Habibi, M., Mohammadgholiha, M. and Safarpour, H. (2019b), "Wave propagation characteristics of the electrically GNP-reinforced nanocomposite cylindrical shell", J. Brazil. Soc. Mech. Sci. Eng., 41(5), 221. https://doi.org/10.1007/s40430-019-1715-x   DOI
89 Habibi, M., Mohammadi, A., Safarpour, H. and Ghadiri, M. (2019c), "Effect of porosity on buckling and vibrational characteristics of the imperfect GPLRC composite nanoshell", Mech. Based Des. Struct., 1-30.
90 Habibi, M., Mohammadi, A., Safarpour, H., Shavalipour, A. and Ghadiri, M. (2019d), "Wave propagation analysis of the laminated cylindrical nanoshell coupled with a piezoelectric actuator", Mech. Based Des. Struct., 1-19. https://doi.org/10.1080/15397734.2019.1697932   DOI
91 Yuan, H. and Yang, B. (2022), "System dynamics approach for evaluating the interconnection performance of cross-border transport infrastructure", J. Manag. Eng., 38(3), 04022008. https://doi.org/10.1061/(ASCE)ME.1943-5479.0001015   DOI
92 Yang, Y., Zhang, X.M., He, W., Han, Q.L. and Peng, C. (2020), "Sampled-position states based consensus of networked multi-agent systems with second-order dynamics subject to communication delays", Inform. Sci., 509, 36-46. https://doi.org/10.1016/j.ins.2019.08.073   DOI
93 Yu, W., Chen, G. and Cao, M. (2010), "Some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems", Automatica, 46(6), 1089-1095. https://doi.org/10.1016/j.automatica.2010.03.006   DOI
94 Yu, X., Maalla, A. and Moradi, Z. (2022), "Electroelastic high-order computational continuum strategy for critical voltage and frequency of piezoelectric NEMS via modified multi-physical couple stress theory", Mech. Syst. Signal Proc., 165 108373.   DOI
95 Zare, R., Najaafi, N., Habibi, M., Ebrahimi, F. and Safarpour, H. (2020), "Influence of imperfection on the smart control frequency characteristics of a cylindrical sensor-actuator GPLRC cylindrical shell using a proportional-derivative smart controller", Smart Struct. Syst., 26(4), 469-480. https://doi.org/10.12989/sss.2020.26.4.469   DOI
96 Zema, N.R., Quadri, D., Martin, S. and Shrit, O. (2019). "Formation control of a mono-operated UAV fleet through adhoc communications: A Q-learning approach", 2019 16th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON), 10-13 June 2019.
97 Zhang, L., Chen, Z., Habibi, M., Ghabussi, A. and Alyousef, R. (2021a), "Low-velocity impact, resonance, and frequency responses of FG-GPLRC viscoelastic doubly curved panel", Compos. Struct., 269 114000. https://doi.org/10.1016/j.compstruct.2021.114000   DOI
98 Hashemi, H.R., Alizadeh, A.a., Oyarhossein, M.A., Shavalipour, A., Makkiabadi, M. and Habibi, M. (2019), "Influence of imperfection on amplitude and resonance frequency of a reinforcement compositionally graded nanostructure", Wave Random Complex Med., 1-27. https://doi.org/10.1080/17455030.2019.1662968   DOI
99 Habibi, M., Safarpour, M. and Safarpour, H. (2020), "Vibrational characteristics of a FG-GPLRC viscoelastic thick annular plate using fourth-order Runge-Kutta and GDQ methods", Mech. Based Des. Struct., 1-22. https://doi.org/10.1080/15397734.2020.1779086   DOI
100 Habibi, M., Taghdir, A. and Safarpour, H. (2019e), "Stability analysis of an electrically cylindrical nanoshell reinforced with graphene nanoplatelets", Compos. Part B Eng., 175, 107125. https://doi.org/10.1016/j.compositesb.2019.107125   DOI
101 He, W., Chen, G., Han, Q.L. and Qian, F. (2017), "Network-based leader-following consensus of nonlinear multi-agent systems via distributed impulsive control", Inform. Sci., 380, 145-158. https://doi.org/10.1016/j.ins.2015.06.005   DOI
102 He, X., Ding, J., Habibi, M., Safarpour, H. and Safarpour, M. (2021), "Non-polynomial framework for bending responses of the multi-scale hybrid laminated nanocomposite reinforced circular/annular plate", Thin Wall. Struct., 166, 108019. https://doi.org/10.1016/j.tws.2021.108019   DOI
103 He, Y., Wu, M. and Liu, S. (2022), "A distributed optimal control framework for multi-robot cooperative manipulation in dynamic environments", J. Intell. Robot. Syst., 105(1), 8. https://doi.org/10.1007/s10846-022-01621-4   DOI
104 Heidari, F., Taheri, K., Sheybani, M., Janghorban, M. and Tounsi, A. (2021), "On the mechanics of nanocomposites reinforced by wavy/defected/aggregated nanotubes", Steel Compos. Struct., 38(5), 533-545. https://doi.org/10.12989/scs.2021.38.5.533   DOI
105 Zhao, C., Liao, F., Li, X. and Du, Y. (2021a), "Macroscopic modeling and dynamic control of on-street cruising-for-parking of autonomous vehicles in a multi-region urban road network", Transp. Res. Part C Emerg. Technol., 128, 103176. https://doi.org/10.1016/j.trc.2021.103176   DOI
106 Zhang, L., Gao, T., Cai, G. and Hai, K.L. (2022), "Research on electric vehicle charging safety warning model based on back propagation neural network optimized by improved gray wolf algorithm", J. Energy Storage, 49, 104092. https://doi.org/10.1016/j.est.2022.104092   DOI
107 Zhang, X., Shamsodin, M., Wang, H., NoormohammadiArani, O., Khan, A.M., Habibi, M. and Al-Furjan, M. (2020), "Dynamic information of the time-dependent tobullian biomolecular structure using a high-accuracy size-dependent theory", J. Biomol. Struct. Dyn., 1-16. https://doi.org/10.1080/07391102.2020.1760939   DOI
108 Zhang, Y., Wang, Z., Tazeddinova, D., Ebrahimi, F., Habibi, M. and Safarpour, H. (2021b), "Enhancing active vibration control performances in a smart rotary sandwich thick nanostructure conveying viscous fluid flow by a PD controller", Wave Random Complex Med., 1-24. https://doi.org/10.1080/17455030.2021.1948627   DOI
109 Zhao, Y., Moradi, Z., Davoudi, M. and Zhuang, J. (2021b), "Bending and stress responses of the hybrid axisymmetric system via state-space method and 3D-elasticity theory", Eng. Comput., 1-23. https://doi.org/10.1007/s00366-020-01242-1   DOI
110 Zhou, C., Zhao, Y., Zhang, J., Fang, Y. and Habibi, M. (2020), "Vibrational characteristics of multi-phase nanocomposite reinforced circular/annular system", Adv. Nano Res., 9(4), 295-307. https://doi.org/10.12989/anr.2020.9.4.295   DOI
111 Huang, X., Zhang, Y., Moradi, Z. and Shafiei, N. (2021b), "Computer simulation via a couple of homotopy perturbation methods and the generalized differential quadrature method for nonlinear vibration of functionally graded non-uniform microtube", Eng. Comput., 1-18. https://doi.org/10.1007/s00366-021-01395-7   DOI
112 Hou, F., Wu, S., Moradi, Z. and Shafiei, N. (2021), "The computational modeling for the static analysis of axially functionally graded micro-cylindrical imperfect beam applying the computer simulation", Eng. Comput., 38(4), 3217-3235. https://doi.org/10.1007/s00366-021-01456-x   DOI
113 Hu, Z., Ma, C., Zhang, L., Halme, A., Hayat, T. and Ahmad, B. (2015), "Formation control of impulsive networked autonomous underwater vehicles under fixed and switching topologies", Neurocomputing, 147, 291-298. https://doi.org/10.1016/j.neucom.2014.06.060   DOI
114 Huang, X., Hao, H., Oslub, K., Habibi, M. and Tounsi, A. (2021a), "Dynamic stability/instability simulation of the rotary size-dependent functionally graded microsystem", Eng. Comput., 1-17. https://doi.org/10.1007/s00366-021-01399-3   DOI
115 Huang, X., Zhu, Y., Vafaei, P., Moradi, Z. and Davoudi, M. (2021c), "An iterative simulation algorithm for large oscillation of the applicable 2D-electrical system on a complex nonlinear substrate", Eng. Comput., 38(4), 3137-3149. https://doi.org/10.1007/s00366-021-01320-y   DOI
116 Jiang, Y. and Li, X. (2022), "Broadband cancellation method in an adaptive co-site interference cancellation system", Int. J. Electron., 109(5), 854-874. https://doi.org/10.1080/00207217.2021.1941295   DOI
117 Adamian, A., Safari, K.H., Sheikholeslami, M., Habibi, M., AlFurjan, M. and Chen, G. (2020), "critical temperature and frequency characteristics of GPLs-reinforced composite doubly curved panel", Appl. Sci., 10(9), 3251. https://doi.org/10.3390/app10093251   DOI
118 Moradi, Z., Davoudi, M., Ebrahimi, F. and Ehyaei, A.F. (2021), "Intelligent wave dispersion control of an inhomogeneous micro-shell using a proportional-derivative smart controller", Wave Random Complex Med., 1-24. https://doi.org/10.1080/17455030.2021.1926572   DOI
119 Mohammadi, A., Lashini, H., Habibi, M. and Safarpour, H. (2019), "Influence of viscoelastic foundation on dynamic behaviour of the double walled cylindrical inhomogeneous micro shell using MCST and with the aid of GDQM", J. Solid Mech., 11(2), 440-453. https://doi.org/10.22034/jsm.2019.665264   DOI
120 Moradi, H., Atashi, P., Amelirad, O., Yang, J.K., Chang, Y.Y. and Kamranifard, T. (2022), "Machine learning modeling and DOE-assisted optimization in synthesis of nanosilica particles via Stober method", Adv. Nano Res., 12(4), 387-403. https://doi.org/10.12989/anr.2022.12.4.387   DOI
121 Najaafi, N., Jamali, M., Habibi, M., Sadeghi, S., Jung, D.w. and Nabipour, N. (2020), "Dynamic instability responses of the substructure living biological cells in the cytoplasm environment using stress-strain size-dependent theory", J. Biomol. Struct. Dyn., 1-12. https://doi.org/10.1080/07391102.2020.1751297   DOI
122 Nazarzehi, V. and Savkin, A.V. (2019), "Decentralized three dimensional formation building algorithms for a team of nonholonomic mobile agents", Int. J. Control Automat. Syst., 17(5), 1283-1292. https://doi.org/10.1007/s12555-018-0283-7   DOI
123 Oh, K.K., Park, M.C. and Ahn, H.S. (2015), "A survey of multi-agent formation control", Automatica, 53, 424-440. https://doi.org/10.1016/j.automatica.2014.10.022   DOI
124 Oyarhossein, M.A., Alizadeh, A.a., Habibi, M., Makkiabadi, M., Daman, M., Safarpour, H. and Jung, D.W. (2020), "Dynamic response of the nonlocal strain-stress gradient in laminated polymer composites microtubes", Sci. Rep., 10(1), 1-19. https://doi.org/10.1038/s41598-020-61855-w   DOI
125 Bai, Y., Alzahrani, B., Baharom, S. and Habibi, M. (2020), "Semi-numerical simulation for vibrational responses of the viscoelastic imperfect annular system with honeycomb core under residual pressure", Eng. Comput., 1-26. https://doi.org/10.1007/s00366-020-01191-9   DOI
126 Al-Furjan, M., Dehini, R., Khorami, M., Habibi, M. and won Jung, D. (2020a), "On the dynamics of the ultra-fast rotating cantilever orthotropic piezoelectric nanodisk based on nonlocal strain gradient theory", Compos. Struct., 112990. https://doi.org/10.1016/j.compstruct.2020.112990   DOI
127 Al-Furjan, M., Fereidouni, M., Habibi, M., Abd Ali, R., Ni, J. and Safarpour, M. (2020b), "Influence of in-plane loading on the vibrations of the fully symmetric mechanical systems via dynamic simulation and generalized differential quadrature framework", Compos. Struct., 1-23. https://doi.org/10.1007/s00366-020-01177-7   DOI
128 Al-Furjan, M., Fereidouni, M., Sedghiyan, D., Habibi, M. and won Jung, D. (2020c), "Three-dimensional frequency response of the CNT-Carbon-Fiber reinforced laminated circular/annular plates under initially stresses", Compos. Struct., 113146. https://doi.org/10.1016/j.compstruct.2020.113146   DOI
129 Brandao, A.S. and Sarcinelli-Filho, M. (2016), "On the guidance of multiple UAV using a centralized formation control scheme and delaunay triangulation", J. Intell. Robot. Syst., 84(1), 397-413. https://doi.org/10.1007/s10846-015-0300-5   DOI
130 Cai, L., Xiong, L., Cao, J., Zhang, H. and Alsaadi, F.E. (2022), "State quantized sampled-data control design for complex-valued memristive neural networks", J. Franklin Inst., 359(9), 4019-4053. https://doi.org/10.1016/j.jfranklin.2022.04.016   DOI
131 Cao, B., Fan, S., Zhao, J., Tian, S., Zheng, Z., Yan, Y. and Yang, P. (2021a), "Large-scale many-objective deployment optimization of edge servers", IEEE T Intell. Transp. Syst., 22(6), 3841-3849. https://doi.org/10.1109/TITS.2021.3059455   DOI
132 Safarpour, H., Ghanizadeh, S.A. and Habibi, M. (2018), "Wave propagation characteristics of a cylindrical laminated composite nanoshell in thermal environment based on the nonlocal strain gradient theory", Eur. Phys. J. Plus, 133(12), 532.   DOI
133 Pourjabari, A., Hajilak, Z.E., Mohammadi, A., Habibi, M. and Safarpour, H. (2019), "Effect of porosity on free and forced vibration characteristics of the GPL reinforcement composite nanostructures", Comput. Math. Appl., 77(10), 2608-2626.   DOI
134 Recker, T., Heinrich, M. and Raatz, A. (2021), "A comparison of different approaches for formation control of nonholonomic mobile robots regarding object transport", Procedia CIRP, 96, 248-253. https://doi.org/10.1016/j.procir.2021.01.082   DOI
135 Safarpour, H., Esmailpoor Hajilak, Z. and Habibi, M. (2019a), "A size-dependent exact theory for thermal buckling, free and forced vibration analysis of temperature dependent FG multilayer GPLRC composite nanostructures restring on elastic foundation", Int. J. Mech. Mater. Des., 15(3), 569-583. https://doi.org/10.1007/s10999-018-9431-8   DOI
136 Safarpour, H., Pourghader, J. and Habibi, M. (2019b), "Influence of spring-mass systems on frequency behavior and critical voltage of a high-speed rotating cantilever cylindrical three-dimensional shell coupled with piezoelectric actuator", J. Vib. Control, 25(9), 1543-1557. https://doi.org/10.1177/1077546319828465   DOI
137 Safarpour, M., Ebrahimi, F., Habibi, M. and Safarpour, H. (2020), "On the nonlinear dynamics of a multi-scale hybrid nanocomposite disk", Eng. Comput., 1-20. https://doi.org/10.1007/s00366-020-00949-5   DOI
138 Dai, Z., Jiang, Z., Zhang, L. and Habibi, M. (2021a), "Frequency characteristics and sensitivity analysis of a size-dependent laminated nanoshell", Adv. Nano Res., 10(2), 175-189. https://doi.org/10.12989/anr.2021.10.2.175   DOI
139 Cao, B., Sun, Z., Zhang, J. and Gu, Y. (2021c), "Resource allocation in 5G IoV architecture based on SDN and Fog-cloud computing", IEEE T Intell. Transp. Syst., 22(6), 3832-3840. https://doi.org/10.1109/TITS.2020.3048844   DOI
140 Cao, B., Li, M., Liu, X., Zhao, J., Cao, W. and Lv, Z. (2021b), "Many-objective deployment optimization for a drone-assisted camera network", IEEE T Netw. Sci. Eng., 8(4), 2756-2764. https://doi.org/10.1109/TNSE.2021.3057915   DOI
141 Cao, B., Zhang, J., Liu, X., Sun, Z., Cao, W., Nowak, R.M. and Lv, Z. (2022a), "Edge-cloud resource scheduling in space-air-ground-integrated networks for internet of vehicles", IEEE Internet Things J., 9(8), 5765-5772. https://doi.org/10.1109/JIOT.2021.3065583   DOI
142 Cao, B., Zhang, W., Wang, X., Zhao, J., Gu, Y. and Zhang, Y. (2021d), "A memetic algorithm based on two_Arch2 for multi-depot heterogeneous-vehicle capacitated arc routing problem", Swarm Evolution. Comput., 63, 100864. https://doi.org/10.1016/j.swevo.2021.100864   DOI
143 Al-Furjan, M., Habibi, M., won Jung, D. and Safarpour, H. (2020d), "Vibrational characteristics of a higher-order laminated composite viscoelastic annular microplate via modified couple stress theory", Compos. Struct., 113152. https://doi.org/10.1016/j.compstruct.2020.113152   DOI
144 Al-Furjan, M., Moghadam, S.A., Dehini, R., Shan, L., Habibi, M. and Safarpour, H. (2020e), "Vibration control of a smart shell reinforced by graphene nanoplatelets under external load: Semi-numerical and finite element modeling", Thin Wall. Struct., 107242. https://doi.org/10.1016/j.tws.2020.107242   DOI
145 Al-Furjan, M., Oyarhossein, M.A., Habibi, M., Safarpour, H. and Jung, D.W. (2020f), "Frequency and critical angular velocity characteristics of rotary laminated cantilever microdisk via two-dimensional analysis", Thin Wall. Struct., 157, 107111. https://doi.org/10.1016/j.tws.2020.107111   DOI
146 Amelirad, O. and Assempour, A. (2021), "Coupled continuum damage mechanics and crystal plasticity model and its application in damage evolution in polycrystalline aggregates", Eng. Comput., 1-15. https://doi.org/10.1007/s00366-021-01346-2   DOI
147 Al-Furjan, M.S.H., hatami, A., Habibi, M., Shan, L. and Tounsi, A. (2021), "On the vibrations of the imperfect sandwich higher-order disk with a lactic core using generalize differential quadrature method", Compos. Struct., 257, 113150. https://doi.org/10.1016/j.compstruct.2020.113150   DOI
148 Alipour, M., Torabi, M.A., Sareban, M., Lashini, H., Sadeghi, E., Fazaeli, A., Habibi, M. and Hashemi, R. (2020), "Finite element and experimental method for analyzing the effects of martensite morphologies on the formability of DP steels", Mech. Based Des. Struct., 48(5), 525-541. https://doi.org/10.1080/15397734.2019.1633343   DOI
149 Amelirad, O. and Assempour, A. (2019), "Experimental and crystal plasticity evaluation of grain size effect on formability of austenitic stainless steel sheets", J. Manuf. Proc., 47, 310-323. https://doi.org/10.1016/j.jmapro.2019.09.035   DOI
150 Cao, B., Zhang, Y., Zhao, J., Liu, X.L.S. and Lv, Z. (2021e), "Recommendation based on large-scale many-objective optimization for the intelligent internet of things system", IEEE Internet Things J., 1-1. https://doi.org/10.1109/JIOT.2021.3104661   DOI
151 Cao, B., Zhao, J., Liu, X., Arabas, J., Tanveer, M., Singh, A.K. and Lv, Z. (2022b), "Multiobjective evolution of the explainable fuzzy rough neural network with gene expression programming", IEEE T Fuzzy Syst., 1-1. https://doi.org/10.1109/TFUZZ.2022.3141761   DOI
152 Cao, B., Zhao, J., Lv, Z. and Yang, P. (2021f), "Diversified personalized recommendation optimization based on mobile data", IEEE T Intell. Transp. Syst., 22(4), 2133-2139. https://doi.org/10.1109/TITS.2020.3040909   DOI