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Author Hao, Yongxing ♦ Laxton, Benjamin ♦ Agrawal, Sunil K. ♦ Lee, Edward ♦ Benson, Eric
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Unmanned Ground Vehicle ♦ Planned Trajectory ♦ Individual Vehicle ♦ Illustrative Simulation ♦ Kinematic Constraint ♦ Formation Path ♦ Cost Function ♦ Trajectory Planner ♦ Ugv Formation ♦ Path Constraint ♦ Multiple Unmanned Ground Vehicle ♦ Intervehicle Collision ♦ Deadlockfree Path ♦ Practical Framework ♦ Virtual Leader ♦ Goal Point ♦ Laboratory Implementation ♦ Dynamic Environment ♦ Feasible Path ♦ Current Sensor Data ♦ Search Algorithm
Description ... control of formations of multiple unmanned ground vehicles to traverse between goal points in a dynamic environment. This framework allows online planning of the formation paths using a Dijkstra's search algorithm based on the current sensor data. The formation is allowed to dynamically change in order to avoid obstacles in the environment while minimizing a cost function aimed at obtaining collision-free and deadlockfree paths. Based on a feasible path for a virtual leader of the group, the trajectory planner satisfies the kinematic constraints of the individual vehicles while accounting for intervehicle collision and path constraints. A Lyapunov based controller is designed to keep the vehicles on their planned trajectories. Illustrative simulations of groups of unmanned ground vehicles and their laboratory implementation with three unmanned ground vehicles are presented.
Proceedings of IEEE International Conference on Robotics and Automation
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2003-01-01