@inproceedings{dd6d5fe2d9a54b2bbbd29cf59471f9b8,
title = "Formation Tracking for Multi-UGV System with Collision Avoidance via Improved Potential Field",
abstract = "In this paper, the time-varying formation tracking and collision avoidance problems for multi-unmanned ground vehicle (UGV) system which consists of omnidirectional vehicles are investigated. Firstly, the models of omnidirectional vehicle and multi-UGV system are introduced. Secondly, an improved potential field-based strategy is designed to eliminate local minima and deadlock state in collision avoidance. Then a formation tracking control protocol is presented. It is proven that the given formation tracking can be achieved by the proposed method according to Lyapunov-based theory. Finally, corresponding simulations are provided.",
keywords = "Collision avoidance, Formation tracking, Multi-UGV system",
author = "Chenxi Hu and Sibo Hu and Jin Dong and Yongzhao Hua and Xiwang Dong",
note = "Publisher Copyright: {\textcopyright} 2023 Technical Committee on Control Theory, Chinese Association of Automation.; 42nd Chinese Control Conference, CCC 2023 ; Conference date: 24-07-2023 Through 26-07-2023",
year = "2023",
doi = "10.23919/CCC58697.2023.10240498",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "68--73",
booktitle = "2023 42nd Chinese Control Conference, CCC 2023",
address = "美国",
}