Real Time Trajectory Planning for Groups of Unmanned Vehicles

摘要

Feedback control laws for controlling multiple unmanned surface vehicles in arbitrary formations are proposed. The presented formation control method uses only local sensor-based information. The method of input/ output linearization has been used to exponentially stabilize the relative distance and orientation of neighboring vehicles with a three-degree-of-freedom dynamic model. It is shown that the internal dynamics of the system is also stable. The use of these control laws is demonstrated by computer simulations. These controllers can be utilized to control an arbitrarily large number of unmanned vehicles moving in very general formations.