Title: Simultaneous Arrival Planning for Multiple Unmanned Vehicles Formation Reconfiguration
Authors: Wang, Y; Wang, S; Tan, M; Yu, JZ
Author Full Names: Wang, Yu; Wang, Shuo; Tan, Min; Yu, Junzhi
Source: INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 32 (4):360-368; 10.2316/Journal.206.2017.4.206-4751 2017
Language: English
Abstract: 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.
ISSN: 0826-8185
eISSN: 1925-7090
IDS Number: FF2DE
Unique ID: WOS:000408707300006