Kinematic Aspects of Guided Formation Control in 2D

  • M. Breivik
  • M.V. Subbotin
  • T.I. Fossen
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 336)

Abstract

This paper addresses fundamental kinematic aspects of planar formation control. A so-called guided formation control scheme based on a guided path following approach is developed by combining guidance laws with synchronization algorithms and collision avoidance techniques. The result is collision-free formation assembly and path following, inspired by the helmsman behavior of human pilots. All regularly parametrized paths are rendered feasible, and geometric constraints of formation control problems are illustrated. Finally, a simulation is employed to display transient behavior.

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Copyright information

© Springer-Verlag Berlin/Heidelberg 2006

Authors and Affiliations

  • M. Breivik
    • 1
  • M.V. Subbotin
    • 2
  • T.I. Fossen
    • 3
  1. 1.Centre for Ships and Ocean Structures, Norwegian University of Science and Technology, N-7491 TrondheimNorway
  2. 2.Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA 93106USA
  3. 3.Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 TrondheimNorway

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