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This paper employs a unique decentralised cooperative control method to realise a formation‐based collision avoidance strategy for a group of autonomous vehicles. In this approach, the vehicles' role in the formation and their alert and danger areas are first defined, and the formation‐based intra‐group and external collision avoidance methods are then proposed to translate the collision avoidance...
The artificial potential field (APF) method provides simple and effective motion planner for practical purpose though it has its inherent disadvantages: local minima and oscillations in the presence of obstacles. This paper put forward a new method for improving the disadvantages of the path planning based on traditional APF. Before calculating the resultant force that is put on an object in the potential...
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