SCIENCE CHINA Information Sciences, Volume 60, Issue 7: 070206(2017) https://doi.org/10.1007/s11432-016-9094-1

Leader-follower formation of vehicles with velocity constraints and local coordinate frames

• AcceptedApr 1, 2017
• PublishedJun 9, 2017
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Abstract

This paper studies leader-follower formation control of networked nonholonomic vehicles of unicycle type. Each vehicle is subject to the velocity constraints consisting of saturated angular velocity and bounded linear velocity with positive-minimum value. Each vehicle is allowed to use its local coordinate frame, and the network topology is described by a directed graph containing a spanning tree. Two dynamic control laws satisfying the velocity constraints are developed respectively, such that the leader-follower formation defined in local coordinate frames can be achieved in two cases. The proposed control laws only require each vehicle to use the information of its neighbors in the network via local measurements and communication. Finally, effectiveness is illustrated by simulation results of an example.

• Figure 1

Illustration of the local coordinate frame.

• Figure 2

The directed graph $\bar{\G}$ describing the network among vehicles.

• Figure 3

(Color online) Trajectories of all vehicles in Case 1.

• Figure 4

(Color online) Formation tracking errors $\|\p_{ei}\|(t)$ in Case 1.

• Figure 5

(Color online) Formation tracking errors $\theta _{ei}(t)$ in Case 1.

• Figure 6

(Color online) Linear velocity of each vehicle $v_i(t)$ in Case 1.

• Figure 7

(Color online) Angular velocity of each vehicle $\omega_i(t)$ in Case 1.

• Figure 8

(Color online) Trajectories of all vehicles in Case 2.

• Figure 9

(Color online) Formation tracking errors $\|\p_{ei}\|(t)$ in Case 2.

• Figure 10

(Color online) Formation tracking errors $\theta _{ei}(t)$ in Case 2.

• Figure 11

(Color online) Linear velocity of each vehicle $v_i(t)$ in Case 2.

• Figure 12

(Color online) Angular velocity of each vehicle $\omega_i(t)$ in Case 2.

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