Abstract

This paper presents a nonlinear control design for contemporary formation coordination, obstacle avoidance and collision free of multiple autonomous vehicles. Within a leader-follower framework, the geometric formation is guaranteed by speed adaptation of individual path following control. Meanwhile, nonlinear global heading guidance deign is highlighted and augmented for obstacle avoidance and collision free. Simulation results with seven unicycle-type vehicles show the performance of the guidance based nonlinear control strategy.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.