Multi-vehicle Path Following using Modified Trajectory Shaping Guidance

2017/11/18 by Ishmaal T. Erekson, Erekson, Ishmaal, Rajnikant Sharma +5
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #Guidance and Control Systems #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1711.06862

openalex publication_date 2017/11/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two adjacent vehicles where path information is only available to the lead vehicle. We analytically show lateral and longitudnal stability and convergence on the path. This is also validated through simulation and experimental results.

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