Formation tracking control of unicycle teams with collision avoidance

Qin Li; Zhong Ping Jiang

doi:10.1109/CDC.2008.4738901

Formation tracking control of unicycle teams with collision avoidance

Qin Li, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.1109/CDC.2008.4738901
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

Access to Document

10.1109/CDC.2008.4738901

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Cite this

Li, Q & Jiang, ZP 2008, Formation tracking control of unicycle teams with collision avoidance. in Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008., 4738901, Proceedings of the IEEE Conference on Decision and Control, pp. 496-501, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 12/9/08. https://doi.org/10.1109/CDC.2008.4738901

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