Smooth Trajectory Planning for Autonomous Leader-Follower Robots

9 pages•Published: March 13, 2019

Abstract

Path planning is a key factor that determines how well a robotic vehicle performs in executing automated formations and maneuvers as in multi-vehicle platooning and self- organizing leader following with safe and graceful movements. Many types of path- planning schemes have been employed in the autonomous robotics and driving systems. In this paper, we will focus on the application of a smooth path-planning (SPP) algorithm that produces simple-to-implement robotic maneuvers. The algorithm is derived from using a well-established Lyapunov stability criterion and a clever dynamical control synthesis. We show that the SPP can be adapted to many autonomous guidance scenarios. Simulations show that the SPP resulted in autonomous behaviors similar to that parallel those of human or animal actions. The paper presents results using Matlab simulations as well as Gazebo animation. The results will provide a foundation for an implementation of SPP on actual robotic vehicles.

Keyphrases: back stepping control, leader follower platoon, lyapunov stability, self driving vehicle, smooth path planning

In: Gordon Lee and Ying Jin (editors). Proceedings of 34th International Conference on Computers and Their Applications, vol 58, pages 301-309.

Links:	https://easychair.org/publications/paper/RWZ6
	https://doi.org/10.29007/n6kt

BibTeX entry

@inproceedings{CATA2019:Smooth_Trajectory_Planning_Autonomous,
  author    = {Ka Cheok and Kiran Iyengar and Sami Oweis},
  title     = {Smooth Trajectory Planning for Autonomous Leader-Follower Robots},
  booktitle = {Proceedings of 34th International Conference on Computers and Their Applications},
  editor    = {Gordon Lee and Ying Jin},
  series    = {EPiC Series in Computing},
  volume    = {58},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2398-7340},
  url       = {/publications/paper/RWZ6},
  doi       = {10.29007/n6kt},
  pages     = {301-309},
  year      = {2019}}

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