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SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION
Wang, Yu; Wang, Shuo; Tan, Min; Yu, Junzhi; Shuo Wang
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2017
Volume32Issue:4Pages:360-368
SubtypeArticle
AbstractThis 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.
KeywordTrajectory Planning Multiple Unmanned Vehicles Simultaneous Arrival Real-time Planning
WOS HeadingsScience & Technology ; Technology
DOI10.2316/Journal.206.2017.4.206-4751
WOS KeywordSTABILITY ANALYSIS ; AERIAL VEHICLES ; PATH GENERATION ; OPTIMIZATION ; TRACKING ; 3-D ; UAV
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000408707300006
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19977
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorShuo Wang
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
Recommended Citation
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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