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Real-Time Trajectory Generation for the Cooperative Path Planning of Multi-Vehicle Systems |
Abstract |
This paper discusses a Cooperative Path Pl … This paper discusses a Cooperative Path Planning (CPP) design
methodology for multi-vehicle systems and a Nonlinear
Trajectory Generation (NTG) algorithm. Three scenarios
of multi-vehicle tasking are proposed at the CPP framework.
The NTG algorithm is, then, used to generate realtime
trajectory for desired vehicle activities. Given system
dynamics and constraints, the NTG algorithm first finds trajectory
curves in a lower dimensional space and, then, parameterizes
the curves by the B-spline basis. The coefficients of the B-splines are further solved by the sequential
quadratic programming to satisfy the optimization objectives
and constraints. The NTG algorithm has been implemented
to generate real-time trajectories for a group of
cooperative vehicles in the presence of changing missions
and constraints. ence of changing missions
and constraints. +
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Authors | Feng-Li Lian and Richard M. Murray + |
ID | 2002g + |
Source | 2002 Conference on Decision and Control + |
Tag | lm02-cdc + |
Title | Real-Time Trajectory Generation for the Cooperative Path Planning of Multi-Vehicle Systems + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:00 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/lm02-cdc.pdf + |
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Real-Time Trajectory Generation for the Cooperative Path Planning of Multi-Vehicle Systems + | Title |
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