TY - GEN
T1 - Formation tracking control of unicycle teams with collision avoidance
AU - Li, Qin
AU - Jiang, Zhong Ping
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62949172407&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62949172407&partnerID=8YFLogxK
U2 - 10.1109/CDC.2008.4738901
DO - 10.1109/CDC.2008.4738901
M3 - Conference contribution
AN - SCOPUS:62949172407
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 496
EP - 501
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -