Guidance Based Collision Free and Obstacle Avoidance of Autonomous Vehicles under Formation Constraints

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.