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Leader-Follower Based Locally Rigid Formation Control

Raghuwaiya, Krishna and Sharma, Bibhya N. and Vanualailai, Jito (2018) Leader-Follower Based Locally Rigid Formation Control. Journal of Advanced Transportation, 2018 . pp. 1-14. ISSN 0197-6729

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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.

Item Type: Journal Article
Subjects: Q Science > Q Science (General)
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Bibhya Sharma
Date Deposited: 05 Mar 2018 22:38
Last Modified: 05 Mar 2018 22:38

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