Robust Adaptive Formation Control of Multi-UGVs

Abstract: Unmanned Ground Vehicles (UGV)s play an important role in future battle
field and space exploration. Many technical issues must be solved before
UGVs could be practically utilized. These issues include path planning,
position and orientation sensoring, tracking control, obstacle avoidance,
etc.

This talk will focus on modeling, path tracking control design and
simulation of UGVs. We first address the single UGV tracking control
issue. Two set of control algorithms are developed for robust and adaptive
path tracking. We also discuss the formation control of multi-UGVs . The
results for single UGV is extended to multi-UGV, and the the
leader-follower formation is studied. Some initial simulation results will
be presented.