Leader-Follower Based Locally Rigid Formation Control

Abstract

This paper addresses motion control of a cooperative intelligent transport system (C-ITS) of nonholonomic mobile robots navigating a dynamic environment while maintaining a locally rigid formation. We consider the design of acceleration-based control inputs that govern the motion of cooperative intelligent transport system (C-ITS) using the artificial potential fields method for the avoidance of obstacles and attraction to designated targets. The control scheme utilizes a new leader-follower strategy using Cartesian coordinates to accomplish a collision-free locally rigid formation of an autonomous and intelligent transportation system. The concepts of virtual parking bays and minimum distance technique (MDT) are utilized to attain prescribed orientations of the formation at the final destination. The robustness of the control scheme is established by considering the effect noise on the formation, while the effectiveness of the proposed nonlinear control laws is demonstrated through computer simulations.