Navigation Function-Based Control of Multiple Wheeled Vehicles

  title={Navigation Function-Based Control of Multiple Wheeled Vehicles},
  author={Augie Widyotriatmo and Keum Shik Hong},
  journal={IEEE Transactions on Industrial Electronics},
In this paper, a collision-free navigation method for a group of autonomous wheeled vehicles is investigated. The position and orientation information of individual vehicles is transformed to navigation variables, which are the distance left to the goal position, the angle made by the orientation of the vehicle at the goal position and the vehicle-to-target (v-to-t) vector, and the angle made by the heading direction of the vehicle and the v-to-t vector. As a Lyapunov function for deriving a… CONTINUE READING
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