Neuro-Adaptive Formation Control of Multi-Mobile Vehicles: Virtual Leader Based Path Planning and Tracking

摘要

This paper presents a neuro intelligent virtual leader based approach for close formation of a group of mobile vehicles. Neural Network-based trajectory planning is incorporated into the leading vehicle so that an optimal reference path is generated automatically by the virtual leader, which guides the whole team vehicles to the area of interest as precisely as possible. The steering control scheme is derived based on the structural properties of the vehicle dynamics. Simulation on multiple vehicles formation is conducted as a verification of the effectiveness of the proposed method.