Formation Tracking Control of Unicycle Teams with Collision Avoidance

被引：0
|
作者：
Li, Qin [1 ]
Jiang, Zhong-Ping [1 ]
机构：
[1] Polytech Univ, Dept Elect & Comp Engn, Metrotech Ctr 6, Brooklyn, NY 11201 USA
来源：
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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页码：496 / 501
页数：6
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