Multi-vehicle Path Following using Modified Trajectory Shaping Guidance
For multi-vehicle systems requiring coordinated path following, this work provides a decentralized solution with formal stability guarantees, though it is an incremental extension of existing trajectory shaping guidance.
The paper presents a virtual target-based guidance law for multi-vehicle path following that ensures precise circular path tracking and maintains desired inter-vehicle distances using only lead vehicle path information, with stability proven analytically and validated via simulations and experiments.
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two adjacent vehicles where path information is only available to the lead vehicle. We analytically show lateral and longitudnal stability and convergence on the path. This is also validated through simulation and experimental results.