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

Other

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

Fingerprint

Formation Control
Collision Avoidance
Tracking Control
Collision avoidance
Artificial Potential Field
Backstepping
Controller Design
Controllers
Maintenance
Sector
Motion

ASJC Scopus subject areas

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

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] https://doi.org/10.1109/CDC.2008.4738901

Formation tracking control of unicycle teams with collision avoidance. / Li, Qin; Jiang, Zhong-Ping.

Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. 2008. p. 496-501 4738901.

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

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