Practical trade-offs in robust target following

Proc. of the International Congress on Intelligent Systems and Applications (ISA 2000), International Symposium on Industrial Systems (IS 2000), December 12-15, 2000, at the University of Wollongong, Australia

Christfried Webers & Uwe R. Zimmer

This article discusses two Lyapunov based robust target following techniques and introduces a method based on the superposition of elementary vehicle dynamics. All three approaches are discussed and physically tested together with a known Lyapunov method for closed loop control. Emphasis is given on the discussion of distinguishing features and parameters relevant for practical selection of target following methods, where manoeuvring space, velocities and accelerations are strictly limited. Uncertain position information and limitations in accuracy and available computational power are especially considered. All discussed results are measured in physical experiments.

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