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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Leader-Follower Based Locally Rigid Formation Control


    Beteiligte:


    Erscheinungsdatum :

    2018




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Leader-Follower Formation Control of Multiple Quadrotors

    Zhao, Zhihui / Wang, Jing | IEEE | 2018


    Leader-follower Formation Control with Prescribed Performance Guarantees

    Chen, Fei / Dimarogonas, Dimos V. | BASE | 2020

    Freier Zugriff

    Distributed Formation Control of Multi-QUAV Based on Leader-Follower

    Gao, Yali / Wang, Fang / Ma, Zhigang | Springer Verlag | 2021



    Distributed Formation Control of Multi-QUAV Based on Leader-Follower

    Gao, Yali / Wang, Fang / Ma, Zhigang | TIBKAT | 2022