Time-constrained trajectory tracking control algorithm for multiple-vehicle systems

A trajectory tracking control algorithm for multiple vehicle systems is proposed. The technique of the algorithm is to use a homogeneous function as upper bound of vehicle-to-reference distance. The problem to solve by the proposed method is in the case of the existence of interception between any two reference paths. Assumptions of collision-free pre-planned reference trajectories and the existence of actuator limitation are used. By the proposed method, collision between any two vehicles can be avoided only by tracking their references in short time, not doing any collision avoidance motion. Simulation results showing the performance of the proposed method are presented.