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Trailer-like leader following trajectory planning
Pereira P.1; Cunha R.1; Cabecinhas D.1; Silvestre C.1,2; Oliveira P.1
Conference Name53rd IEEE Annual Conference on Decision and Control (CDC)
Source PublicationProceedings of the IEEE Conference on Decision and Control
Conference DateDEC 15-17, 2014
Conference PlaceLos Angeles, CA
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA

In this paper a trajectory planner for n autonomous vehicles following a common leader is presented, with the planning being accomplished in real time and in a three dimensional setting. The trajectory planner is designed such that n follower vehicles behave as n distinct points of a unique two dimensional trailer attached to a single leader vehicle. We prove that for a wide range of initial conditions the trailer reference frame converges to a unique solution, thus guaranteeing that each follower can plan its trajectory independently from its peers, thereby reducing the need for communications among vehicles. Additionally, convergence to a fixed formation of n+1 vehicles with respect to the trailer reference frame is also guaranteed. Finally, we present bounds on the planned velocity and acceleration, which provide conditions for the feasibility of the planned trajectory. An experimental validation of the planner's behavior is presented with quadrotor vehicles, demonstrating the richness of the planned trajectories.

URLView the original
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000370073803144
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Document TypeConference paper
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
Recommended Citation
GB/T 7714
Pereira P.,Cunha R.,Cabecinhas D.,et al. Trailer-like leader following trajectory planning[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2014:3725-3730.
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