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Leader following trajectory planning: A trailer-like approach
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-5840-3767
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2017 (English)In: Automatica, ISSN 0005-1098, Vol. 75, p. 77-87Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 75, p. 77-87
Keywords [en]
Multi-vehicle trajectory planning, Leader-following, Nonlinear systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-200400DOI: 10.1016/j.automatica.2016.09.001ISI: 000391077800011Scopus ID: 2-s2.0-84993939787OAI: oai:DiVA.org:kth-200400DiVA, id: diva2:1069186
Note

QC 20170127

Available from: 2017-01-27 Created: 2017-01-27 Last updated: 2017-01-27Bibliographically approved

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CiteExportLink to record
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  • apa
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  • Other locale
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  • asciidoc
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