SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION
Wang, Yu; Wang, Shuo; Tan, Min; Yu, Junzhi; Shuo Wang
2017
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
卷号32期号:4页码:360-368
文章类型Article
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.
关键词Trajectory Planning Multiple Unmanned Vehicles Simultaneous Arrival Real-time Planning
WOS标题词Science & Technology ; Technology
DOI10.2316/Journal.206.2017.4.206-4751
关键词[WOS]STABILITY ANALYSIS ; AERIAL VEHICLES ; PATH GENERATION ; OPTIMIZATION ; TRACKING ; 3-D ; UAV
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61233014 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; Beijing Natural Science Foundation(3141002 ; 51175496 ; 4152054) ; 61333016)
WOS研究方向Automation & Control Systems ; Robotics
WOS类目Automation & Control Systems ; Robotics
WOS记录号WOS:000408707300006
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/19977
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Shuo Wang
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
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GB/T 7714
Wang, Yu,Wang, Shuo,Tan, Min,et al. SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2017,32(4):360-368.
APA Wang, Yu,Wang, Shuo,Tan, Min,Yu, Junzhi,&Shuo Wang.(2017).SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,32(4),360-368.
MLA Wang, Yu,et al."SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 32.4(2017):360-368.
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