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| 论文编号: |
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| 第一作者所在部门: |
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| 中文论文题目: |
SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION
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| 英文论文题目: |
SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION
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| 论文题目英文: |
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| 作者: |
Wang, Yu
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| 论文出处: |
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| 刊物名称: |
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
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| 年: |
2017
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| 卷: |
32 |
| 期: |
4 |
| 页: |
360-368 |
| 联系作者: |
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| 收录类别: |
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| 影响因子: |
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| 摘要: |
This paper presents 3-D real-time simultaneous arrival planning for multiple unmanned vehicles formation reconfiguration. The unmanned vehicle's physical constraints are considered. Moreover, the proposed method is adaptable to different configurations of initial and final velocities. The proposed algorithm consists of path generation and velocity planning. Path generation can produce a smooth and feasible path connecting the initial pose to the final pose for every vehicle. This generated path satisfies the minimum turning radius and pitch angle constraints. Velocity planning is designed to address tangent acceleration and velocity constraints such that unmanned vehicles reach their respective final poses simultaneously. Finally, the summary for the algorithm of simultaneous arrival is given. The numerical results demonstrate that the proposed method is effective while satisfies real-time performance. |
| 英文摘要: |
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