SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION

doi:10.2316/Journal.206.2017.4.206-4751

	SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION
	Wang, Yu; Wang, Shuo; Tan, Min; Yu, Junzhi; Shuo Wang
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2017
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
DOI	10.2316/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	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/19977
专题	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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