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 language | English (US) |
|---|---|
| Title of host publication | Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 |
| Pages | 496-501 |
| Number of pages | 6 |
| DOIs | |
| State | Published - 2008 |
| Event | 47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico Duration: Dec 9 2008 → Dec 11 2008 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| ISSN (Print) | 0191-2216 |
Other
| Other | 47th IEEE Conference on Decision and Control, CDC 2008 |
|---|---|
| Country | Mexico |
| City | Cancun |
| Period | 12/9/08 → 12/11/08 |
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