SIMULTANEOUS ARRIVAL PLANNING FOR MULTIPLE UNMANNED VEHICLES FORMATION RECONFIGURATION
文献类型：期刊论文
| 作者 | Wang, Yu ; Wang, Shuo; Tan, Min; Yu, Junzhi; Shuo Wang
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 2017 |
| 卷号 | 32期号:4页码:360-368 |
| 关键词 | Trajectory Planning Multiple Unmanned Vehicles Simultaneous Arrival Real-time Planning |
| DOI | 10.2316/Journal.206.2017.4.206-4751 |
| 文献子类 | Article |
| 英文摘要 | 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. |
| WOS关键词 | STABILITY ANALYSIS ; AERIAL VEHICLES ; PATH GENERATION ; OPTIMIZATION ; TRACKING ; 3-D ; UAV |
| WOS研究方向 | Automation & Control Systems ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000408707300006 |
| 资助机构 | 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) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/19977]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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