A Three Dimensional Trailer Approach to Leader Following Formation Control

UM > Faculty of Science and Technology > DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

Status	已發表Published
	A Three Dimensional Trailer Approach to Leader Following Formation Control
	Pereira, P; Cunha, R; Cabecinhas, D; Silvestre, C; Oliveira, P
	2020-11-01
Source Publication	IEEE Transactions on Control Systems Technology
ISSN	1063-6536
Pages	2292-2308
Abstract	A real-time three dimensional trajectory planner for leader following formation control of autonomous vehicles is proposed. The planner relies on the definition of a trailer body whose hinge point is rigidly attached to the leader and assigns each follower to a distinct point of such trailer. Convergence results for the trailer body reference frame are presented based on Lyapunov analysis which guarantee that the planning can be independently implemented by n followers, with a common leader, as they asymptotically behave as n points of a unique trailer body. As such, the need for communication among followers is dispensable. The proposed strategy is divided into trajectory planning and trajectory tracking, the first problem being vehicle independent. Experimental results obtained with quadrotor vehicles are presented, which demonstrate the richness and suitability of the planned trajectories.
Keyword	Leader Following Trajectory Planning: A Trailer-Like Approach
Language	英語English
The Source to Article	PB_Publication
PUB ID	45931
Document Type	Journal article
Collection	DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Recommended Citation GB/T 7714	Pereira, P,Cunha, R,Cabecinhas, D,et al. A Three Dimensional Trailer Approach to Leader Following Formation Control[J]. IEEE Transactions on Control Systems Technology, 2020, 2292-2308.
APA	Pereira, P., Cunha, R., Cabecinhas, D., Silvestre, C., & Oliveira, P (2020). A Three Dimensional Trailer Approach to Leader Following Formation Control. IEEE Transactions on Control Systems Technology, 2292-2308.
MLA	Pereira, P,et al."A Three Dimensional Trailer Approach to Leader Following Formation Control".IEEE Transactions on Control Systems Technology (2020):2292-2308.

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