Distributed Control of Coordinated Path Tracking for Networked Nonholonomic Mobile Vehicles

@article{Zhang2013DistributedCO,
  title={Distributed Control of Coordinated Path Tracking for Networked Nonholonomic Mobile Vehicles},
  author={Qin Zhang and Lionel Lapierre and Xianbo Xiang},
  journal={IEEE Transactions on Industrial Informatics},
  year={2013},
  volume={9},
  pages={472-484}
}
This paper addresses the problem of coordinated path tracking for networked nonholonomic mobile vehicles, while building and keeping a desired formation. The control laws proposed are categorized into two envelopes by integrating individual path tracking and global virtual structure approaches. One is steering individual vehicles to track virtual vehicles moving along predefined paths, generated by a formation reference vehicle (FRV) of a time-varying desired virtual structure. The other is… CONTINUE READING
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