@inproceedings{e0ee45871d9d445d985544ae4487a079,
title = "Collision Avoidance Control with Motion Information for Multiple Tractor-trailer Vehicles",
abstract = "In this paper, a closed-form feedback control strategy is developed to guarantee the safety maneuvers for N tractor-trailer vehicles with on-axle hitching structures, which resolves the non-cooperative collision avoidance problem between self-segments and the cooperative one among multiple vehicles. Motion information of the vehicle chains is introduced to make the comprehensive assessments for the collision risk. This allows the multi-agent system under the proposed control laws to make the real-time decision for acquiring the smoother motion trajectories and better dynamic performance. Lyapunov-based stability analysis is provided to prove that the system states can converge to the desired points or remain within bounded position errors with respect to reference trajectories without collisions. A simulation is also presented to illustrate the effectiveness of the proposed control laws.",
keywords = "Motion information, Multi-agent system, Obstacle collisions, Self collisions, Tractor-trailer vehicle",
author = "Wenxue Zhang and Stipanovic, \{Dusan M.\} and Di Zhou",
note = "Publisher Copyright: {\textcopyright} 2021 Technical Committee on Control Theory, Chinese Association of Automation.; 40th Chinese Control Conference, CCC 2021 ; Conference date: 26-07-2021 Through 28-07-2021",
year = "2021",
month = jul,
day = "26",
doi = "10.23919/CCC52363.2021.9549476",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5086--5092",
editor = "Chen Peng and Jian Sun",
booktitle = "Proceedings of the 40th Chinese Control Conference, CCC 2021",
address = "美国",
}