Autonomous Vehicles With Obstacle Avoidance
Andree Hultgren, Muhammed Memedi · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2019
Autonomous ground vehicles are becoming prevalent in this modern society due to economical and environmental benefits. This paper investigates trajectory tracking control for a two-wheel autonomous vehicle first, and then a decentralised control approach is implemented where each vehicle can maintain a formation with other vehicles. Collision avoidance is also taken into account, where both moving and stationary obstacles are considered. This enables arbitrary fleets of vehicles to manoeuvre in a set formation without colliding with each other or other obstacles. The proposed controllers are presented theoretically and verified using simulation examples.