Formation tracking control of unicycle teams with collision avoidance

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, virtual structure and artificial potential field (APF) based strategies are integrated to realize formation tracking control for a team of unicycles with collision avoidance property. Using virtual structure, each vehicle is required to track a virtual local leader (VLL) for formation maintenance. For inter-vehicle collision avoidance, the motion of each vehicle is restricted in a specified sector area containing the VLL. APF based and backstepping techniques are utilized to design controller that simultaneously satisfy these control objectives.

Original languageEnglish (US)
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages496-501
Number of pages6
DOIs
StatePublished - 2008
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: Dec 9 2008Dec 11 2008

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period12/9/0812/11/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Li, Q., & Jiang, Z. P. (2008). Formation tracking control of unicycle teams with collision avoidance. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 496-501). [4738901] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2008.4738901