Path Following of Autonomous Agents Under the Effect of Noise

  • Krishna RaghuwaiyaEmail author
  • Bibhya Sharma
  • Jito Vanualailai
  • Parma Nand
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10942)


In this paper, we adopt the architecture of the Lyapunov-based Control Scheme (LbCS) and integrate a leader-follower approach to propose a collision-free path following strategy of a group of mobile car-like robots. A robot is assigned the responsibility of a leader, while the follower robots position themselves relative to the leader so that the path of the leader robot is followed with arbitrary desired clearance by the follower robot, avoiding any inter-robot collision while navigating in a terrain with obstacles under the influence of noise. A set of artificial potential field functions is proposed using the control scheme for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed nonlinear acceleration control laws is demonstrated through computer simulations which prove the efficiency of the control technique and also demonstrates its scalability for larger groups.


Lyapunov Nonholonomic mobile robots Path following Leader-follower 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Krishna Raghuwaiya
    • 1
    • 2
    Email author
  • Bibhya Sharma
    • 1
    • 2
  • Jito Vanualailai
    • 1
  • Parma Nand
    • 2
  1. 1.The University of the South PacificSuvaFiji
  2. 2.Auckland University of TechnologyAucklandNew Zealand

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