Knowledge Commons of Institute of Automation,CAS
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 | |
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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53-Simultaneous arri(2742KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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