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Multivehicle Spacing Along Smooth Curvilinear Paths
August 2010
Lesley A. Weitz, The MITRE Corporation
John E. Hurtado, The MITRE Corporation
ABSTRACT
This paper presents an approach to spacing vehicles along an arbitrary path. Previous
research by the authors has shown the development of formation control laws assuming constant
distances between vehicles as viewed by inertial observers. However, that approach
is not advantageous for spacing vehicles along an arbitrary reference trajectory. By defining
along-path and perpendicular-to-path spacing errors, ideal trajectories can be found
for each vehicle in the formation. A sliding-mode control law is used to track the ideal
trajectories, which provides better performance than a simpler control form. Simulation
results demonstrate feasibility of the approach for a five-vehicle formation.
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