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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.  +
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
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15 May 2016 06:19:00  +
URL
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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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