Leader-Follower Based Locally Rigid Formation Control

Abstract

This paper addresses motion control of a cooperative intelligent transport system (C-ITS) of nonholonomic mobile robots navigating a dynamic environment while maintaining a locally rigid formation. We consider the design of acceleration-based control inputs that govern the motion of cooperative intelligent transport system (C-ITS) using the artificial potential fields method for the avoidance of obstacles and attraction to designated targets. The control scheme utilizes a new leader-follower strategy using Cartesian coordinates to accomplish a collision-free locally rigid formation of an autonomous and intelligent transportation system. The concepts of virtual parking bays and minimum distance technique (MDT) are utilized to attain prescribed orientations of the formation at the final destination. The robustness of the control scheme is established by considering the effect noise on the formation, while the effectiveness of the proposed nonlinear control laws is demonstrated through computer simulations.

Novel Lyapunov-Based Autonomous Controllers for Quadrotors

“…The feedback control laws for the dynamic system is extracted by finding the time derivative of the various components of L (x) along a solution of dynamic system (6) and force it to be at least semi-negative definite. Upon suppressing x, the time derivative of L (x), equation (20) iṡ…”

“…Every bounded solution x(t) in D(L) of (32) converges to:= {x ∈ D(L) : v = w = u = p = q = r = 0} as t → ∞.Proof: Given the Lyapunov-like function L in(20) and its derivativeL in (29), we see thatL ∈ C 1 [D(L), R + ], R + := [0, ∞). Hence L is locally Lipschtiz in x ∈ D(L).…”

Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon

“…From (18), it can be found that the closed dynamics of platoon is influenced by both the state feedback and interaction topology. If the interaction topology is determined in advance and holds during running, many control theories can be used [15][16][17][18][19][20]. Unfortunately, both the dimension and structure of the topological matrix are uncertain in a real environment, which poses a great challenge to synthesize and analyze the platoon control system.…”

“…To overcome the drawback of homogeneous state feedback controller, a heterogeneous feedback controller is further designed to ensure string stability of platoons interacted by bidirectional topology in [15,16]. With the leader-follower topology, the collision avoidance ability is further considered in [17].…”

A Face-off - Classical and Heuristic-based Path Planning Approaches

“…Path planning of autonomous robots has been an active research area for more than two decades [11], [12], [13]. Path planning attempts to find a short, collision-free path for robots from the starting position towards the predefined ending location [50].…”