Generation of temporal–spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles
Yu Wang1; Shuo Wang1,2; Rui Wang1; Min Tan1,2
2017
发表期刊INFORMATION SCIENCES
卷号418期号:2017页码:34-45
其他摘要This paper investigates simultaneous arrival planning of multiple unmanned vehicles. Prob- lem 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 vari- able of Bezier curve. Second, constraints of minimum curvature radius, tangent accelera- tion 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. Sim- ulations and comparisons are conducted to demonstrate the effectiveness of the proposed method.
关键词Simultaneous Arrival Bezier Curve Path Planning
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21719
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1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Yu Wang,Shuo Wang,Rui Wang,等. Generation of temporal–spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles[J]. INFORMATION SCIENCES,2017,418(2017):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(2017),34-45.
MLA Yu Wang,et al."Generation of temporal–spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles".INFORMATION SCIENCES 418.2017(2017):34-45.
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