Leader-Follower Based Locally Rigid Formation Control
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 inte...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2018/5278565 |
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| _version_ | 1849468040589082624 |
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| author | Krishna Raghuwaiya Bibhya Sharma Jito Vanualailai |
| author_facet | Krishna Raghuwaiya Bibhya Sharma Jito Vanualailai |
| author_sort | Krishna Raghuwaiya |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-fa80e21f00f34bc48430f4aba9c106e5 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-fa80e21f00f34bc48430f4aba9c106e52025-08-20T03:25:57ZengWileyJournal of Advanced Transportation0197-67292042-31952018-01-01201810.1155/2018/52785655278565Leader-Follower Based Locally Rigid Formation ControlKrishna Raghuwaiya0Bibhya Sharma1Jito Vanualailai2School of Computing, Information & Mathematical Sciences, The University of the South Pacific, Suva, FijiSchool of Computing, Information & Mathematical Sciences, The University of the South Pacific, Suva, FijiSchool of Computing, Information & Mathematical Sciences, The University of the South Pacific, Suva, FijiThis 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.http://dx.doi.org/10.1155/2018/5278565 |
| spellingShingle | Krishna Raghuwaiya Bibhya Sharma Jito Vanualailai Leader-Follower Based Locally Rigid Formation Control Journal of Advanced Transportation |
| title | Leader-Follower Based Locally Rigid Formation Control |
| title_full | Leader-Follower Based Locally Rigid Formation Control |
| title_fullStr | Leader-Follower Based Locally Rigid Formation Control |
| title_full_unstemmed | Leader-Follower Based Locally Rigid Formation Control |
| title_short | Leader-Follower Based Locally Rigid Formation Control |
| title_sort | leader follower based locally rigid formation control |
| url | http://dx.doi.org/10.1155/2018/5278565 |
| work_keys_str_mv | AT krishnaraghuwaiya leaderfollowerbasedlocallyrigidformationcontrol AT bibhyasharma leaderfollowerbasedlocallyrigidformationcontrol AT jitovanualailai leaderfollowerbasedlocallyrigidformationcontrol |