Distributed Containment Reference Signal for Nonholonomic Planar Vehicles

TL;DR

This paper proposes a distributed reference signal design for nonholonomic vehicles, enabling cooperative tracking by addressing the challenges of stabilizing non-feasible reference signals through innovative trajectory design techniques.

Contribution

It introduces a novel distributed reference trajectory method for nonholonomic vehicles using reduced-order design and time-varying techniques.

Findings

Effective trajectory design for cooperative vehicle tracking

Overcomes stabilization issues of nonholonomic constraints

Utilizes geometry tricks for dynamic reference generation

Abstract

Cooperative of multiple nonholonomic vehicles can be converted into tracking problems of a single-vehicle. The reference trajectory design within distributed features for each vehicle in the group is addressed in this note. The motivation is that nonholonomic vehicles cannot achieve asymptotical stabilization of non-feasible reference signals, and modifications about the virtual reference trajectory design are needed. Reduced-order design and time-varying technique, and some simple geometry tricks are applied to derive the dynamic reference trajectory.