Stable switched controllers for a swarm of UGVs for hierarchal landmark navigation

This paper presents the development of a new set switched velocity controllers swarm unmanned ground vehicles (UGVs) from multiple Lyapunov functions, which are invoked according to switching rule. The Lyapunov-based Control Scheme (LbCS) has derived functions that fall under artificial potential field method classical approach. Interaction three main pillars LbCS, safety, shortness, and smoothest path for motion planning, bring about cost time effectiveness efficiency controllers. enable UGVs navigate autonomously via hierarchal landmarks in cluttered workspace their equilibrium state. give rise system whose stability is proven using Branicky’s criteria systems based on functions. Simulations results presented show nonlinear time-invariant Later, effects noise included robustness.