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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Feng-Li Lian Murray, R. |
| Copyright Year | 2002 |
| Description | Author affiliation: California Inst. of Technol., Pasadena, CA, USA (Feng-Li Lian; Murray, R.) |
| Abstract | 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 a real time 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. |
| Sponsorship | IEEE Control Syst. Soc |
| Starting Page | 3766 |
| Ending Page | 3769 |
| File Size | 280909 |
| Page Count | 4 |
| File Format | |
| ISBN | 0780375165 |
| ISSN | 01912216 |
| DOI | 10.1109/CDC.2002.1184950 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2002-12-10 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Real time systems Trajectory Path planning Unmanned aerial vehicles Control systems Remotely operated vehicles Algorithm design and analysis Vehicle dynamics Spline Mobile robots |
| Content Type | Text |
| Resource Type | Article |
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