By Topic

Groups of unmanned vehicles: differential flatness, trajectory planning, and control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
S. T. Pledgie ; Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA ; Yongxing Hao ; A. M. Ferreira ; S. K. Agrawal
more authors

This paper addresses the problem of trajectory planning and tracking control of groups of unmanned vehicles. The trajectory planner is aimed at satisfying the dynamic equations and constraints. The planner builds on two features of the group: (1) state equations for each member are differentially flat, and (2) inequality constraints have special structures due to proximity constraints between members. Under these assumptions, formations are made so that the dynamic equations and constraints are satisfied. Illustrative simulations of groups of unmanned ground vehicles in formations are presented. The results are also implemented on a laboratory facility with three unmanned ground vehicles.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference: