2024
DOI: 10.1177/09544062231221627
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Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

Iman Ghasemi,
Mohammad Tahmasbi,
Saeid Ahmadian
et al.

Abstract: This study presents the path-following control design for a group of autonomous underwater vehicles in a plane with obstacle and collision avoidance. A distributed backstepping controller is exploited for an autonomous vehicle to design a path-following controller. Then, the controller is applied for the path-following of a group of autonomous vehicle systems in the formation setting. The graph theory is used to model the interconnection between the vehicles. To avoid obstacles and collisions, a dynamic limit-… Show more

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