Moving path following for autonomous robotic vehicles

Tiago Oliveira, Pedro Encarnação, A. Pedro Aguiar

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    16 Citations (Scopus)


    This paper introduces the moving path following (MPF) problem for autonomous robotic vehicles, in which the vehicle is required to converge to and follow a desired geometric moving path, without a specific temporal specification. This case generalizes the classical path following problem, where the given path is stationary. Possible tasks that can be formulated as a MPF problem include terrain/air vehicles target tracking and gas clouds monitoring, where the velocity of the target/cloud specifies the motion of the path. Using the concept of parallel-transport frame associated to the geometric path, we derive the MPF kinematic-error dynamics for 3D paths with arbitrary motion specified by its linear and angular velocity. An application is made to the problem of tracking a target on the ground using an Unmanned Aerial Vehicle. The control law is derived using Lyapunov methods. Formal convergence results are provided and hardware in the loop simulations demonstrate the effectiveness of the proposed method.
    Original languageEnglish
    Title of host publication2013 European Control Conference, ECC 2013
    PublisherIEEE Computer Society
    Number of pages6
    ISBN (Print)9783033039629
    Publication statusPublished - 2013
    Event2013 12th European Control Conference, ECC 2013 - Zurich, Switzerland
    Duration: 17 Jul 201319 Jul 2013

    Publication series

    Name2013 European Control Conference, ECC 2013


    Conference2013 12th European Control Conference, ECC 2013


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