Coordinated path following of unicycles : A nested invariant sets approach
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Date
2015
Authors
Doosthoseini, Alireza
Nielsen, Christopher
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier
Abstract
We formulate a coordinated path following problem for N unicycle mobile robots as an instance of a nested set stabilization
problem. Stabilization of the first set corresponds to driving the unicycles to their assigned paths. Stabilization of the second
set, a subset of the first, corresponds to meeting the coordination specification. The first set is stabilized in a decentralized
manner using feedback linearization. For arbitrary coordination tasks we utilize feedback linearization to stabilize the nested
set in a centralized manner. In the special case in which coordination entails making the unicycles maintain a formation along
their paths, we propose semi-distributed control law under less restrictive communication assumptions. Experimental results
are provided.
Description
The final publication is available at Elsevier via http://dx.doi.org/https://doi.org/10.1016/j.automatica.2015.06.033. © 2015. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
Keywords
coordinated path following problem, multi-agent path following manifold, local coordination set