This paper presents an approach to spacing vehicles along an arbitrary path. Previous research by the authors has shown the development of formation control laws assuming constant distances between vehicles as viewed by inertial observers. However, that approachis not advantageous for spacing vehicles along an arbitrary reference trajectory. By defining along-path and perpendicular-to-path spacing errors, ideal trajectories can be found for each vehicle in the formation.
Multivehicle Spacing Along Smooth Curvilinear Paths
2010
11 pages
Report
No indication
English
Multivehicle Spacing Along Smooth Curvilinear Paths
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