Feedback control laws for controlling multiple unmanned surface vehicles in arbitrary formations are proposed. The presented formation control method uses only local sensor-based information. The method of input/ output linearization has been used to exponentially stabilize the relative distance and orientation of neighboring vehicles with a three-degree-of-freedom dynamic model. It is shown that the internal dynamics of the system is also stable. The use of these control laws is demonstrated by computer simulations. These controllers can be utilized to control an arbitrarily large number of unmanned vehicles moving in very general formations.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Real Time Trajectory Planning for Groups of Unmanned Vehicles


    Contributors:
    F. Fahimi (author)

    Publication date :

    2005


    Size :

    18 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





    Trajectory Planning of Multiple Unmanned Aerial Vehicles on MAPPO

    Fang, Jun / Wu, Xiaohang / Li, Shunmin et al. | Springer Verlag | 2025


    Real - Time Trajectory and Velocity Planning for Autonomous Vehicles

    Hrishikesh Dey / Rithika Ranadive / Abhishek Chaudhari | BASE | 2021

    Free access


    Robust trajectory planning for unmanned aerial vehicles in uncertain environments

    Luders, Brandon (Brandon Douglas) | DSpace@MIT | 2008

    Free access