Control of Platoons of Nonholonomic Vehicles Using Redundant Manipulator Analogs

摘要

In this work we consider methods for control of platoons of cooperating nonholonomic vehicles using techniques based on redundant manipulator control. The class of tricycle-like robots is chosen, as it possesses significant limitations and represents a vast class of real vehicles with application beyond the basic differential drive. The method presented accounts for limitations on both steering and speed. The efficacy of the technique is shown through simulation studies.