Multi-vehicle Path Following using Modified Trajectory Shaping Guidance

Abstract

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.