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Leader following trajectory planning: A trailer-like approach
Pedro O. Pereira4; Rita Cunha2; David Cabecinhas1,2; Carlos Silvestre1,2; Paulo Oliveira2,3
2016-11-01
Source PublicationAUTOMATICA
ISSN0005-1098
Volume75Pages:77-87
Abstract

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, meaning that convergence to a fixed formation of n + 1 vehicles is guaranteed and each follower can plan its trajectory independently from its peers, thereby reducing the need for communication among vehicles. Bounds on the planned velocity and acceleration, 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. 

KeywordMulti-vehicle Trajectory Planning Leader-following Nonlinear Systems
DOI10.1016/j.automatica.2016.09.001
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000391077800011
PublisherPERGAMON-ELSEVIER SCIENCE LTD
The Source to ArticleWOS
Fulltext Access
Citation statistics
Cited Times [WOS]:9   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, China
2.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
3.Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
4.Royal Institute of Technology, Automatic Control, Stockholm, Sweden
Recommended Citation
GB/T 7714
Pedro O. Pereira,Rita Cunha,David Cabecinhas,et al. Leader following trajectory planning: A trailer-like approach[J]. AUTOMATICA,2016,75:77-87.
APA Pedro O. Pereira,Rita Cunha,David Cabecinhas,Carlos Silvestre,&Paulo Oliveira.(2016).Leader following trajectory planning: A trailer-like approach.AUTOMATICA,75,77-87.
MLA Pedro O. Pereira,et al."Leader following trajectory planning: A trailer-like approach".AUTOMATICA 75(2016):77-87.
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