Generation of temporal-spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles
Yu, Wang1; Shuo, Wang1,2; Rui, Wang1,2; Min, Tan1,2
2017-12-01
发表期刊INFORMATION SCIENCES
卷号418页码:34-45
文章类型Article
摘要This paper investigates simultaneous arrival planning of multiple unmanned vehicles. Problem of simultaneous arrival planning is introduced and formulated. First, a Temporal Spatial(T-S) Bezier curve is constructed by considering time as a one-dimensional variable of Bezier curve. Second, constraints of minimum curvature radius, tangent acceleration and velocity are addressed to design the suboptimal T-S Bezier curve. Subsequently, the suboptimal simultaneous arrival time for multiple unmanned vehicles is calculated and obtained. Finally, simultaneous arrival planning by using a T-S Bezier is summarized. Simulations and comparisons are conducted to demonstrate the effectiveness of the proposed method. (C) 2017 Elsevier Inc. All rights reserved.
关键词Simultaneous Arrival Bezier Curve Path Planning
WOS标题词Science & Technology ; Technology
DOI10.1016/j.ins.2017.07.031
关键词[WOS]PATH GENERATION ; AERIAL VEHICLES ; ALGORITHM ; TRACKING ; UAVS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61233014 ; basic research program(B132011XX) ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; 61333016 ; 61603388 ; 61633017)
WOS研究方向Computer Science
WOS类目Computer Science, Information Systems
WOS记录号WOS:000412253300003
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20738
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
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Yu, Wang,Shuo, Wang,Rui, Wang,et al. Generation of temporal-spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles[J]. INFORMATION SCIENCES,2017,418:34-45.
APA Yu, Wang,Shuo, Wang,Rui, Wang,&Min, Tan.(2017).Generation of temporal-spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles.INFORMATION SCIENCES,418,34-45.
MLA Yu, Wang,et al."Generation of temporal-spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles".INFORMATION SCIENCES 418(2017):34-45.
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