Real Time Trajectory Planning for Groups of Unmanned Vehicles

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Aug 22, 2005
Accession Number
ADA437212

Entities

People

  • Farbod Fahimi

Organizations

  • Villanova University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Aircrafts
  • Collision Avoidance
  • Control Systems
  • Coordinate Systems
  • Dynamics
  • Equations
  • Feedback
  • Guidance
  • Maneuvers
  • Navigation
  • Orientation (Direction)
  • Robots
  • Simulations
  • Trajectories
  • Unmanned Aerial Vehicles
  • Vehicles

Fields of Study

  • Physics

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control