The coordinated path following problem, steering a fleet of unicycles along a path while achieving a desired inter-vehicle formation, is investigated. The path is a paved road in the world or a marked curve on the floor of work area, for which each vehicle can measure the distance to the path and the heading error as well as the curvature of the path segment in its sensing range. Moreover, the vehicles can measure the arc distances of their neighbors that lie in their sensing range. A hybrid control approach is proposed to solve the problem. Depending on the posture with respect to the partly observed path, each vehicle either interacts with one of the others or works at the single-agent level. It is shown that the path following error of each vehicle is eventually reduced to zero and vehicles of every weakly connected component asymptotically converge to formations with equal arc distances.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Synthesis of Distributed Control of Coordinated Path Following Based on Hybrid Approach


    Beteiligte:
    Lan, Ying (Autor:in) / Yan, Gangfeng (Autor:in) / Lin, Zhiyun (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011


    Format / Umfang :

    6 Seiten, 17 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Distributed coordinated path following using guiding vector fields

    Yao, Weijia / Garcia de Marina, Hector / Sun, Zhiyong et al. | BASE | 2021

    Freier Zugriff

    Path-Following Control for Coordinated Turn Aircraft Maneuvers

    Cabecinhas, David / Silvestre, Carlos / Rosa, Paulo et al. | AIAA | 2007


    Spatial target path following and coordinated control of multiple UUVs

    Xue Qi / Peng Xiang / Zhi-jun Cai | DOAJ | 2020

    Freier Zugriff

    Path-Following Control for Coordinated Turn Aircraft Maneuvers AIAA Paper

    Cabecinhas, D. / Silvestre, C. / Rosa, P. et al. | British Library Conference Proceedings | 2007


    On Coordinated Road Search Using Time-Coordinated Path Following of Multiple UAVs

    Dobrokhodov, V. / Kaminer, I. / Jones, K. et al. | British Library Conference Proceedings | 2010