Path Planning for Formation Control of Autonomous Vehicles
Chapter
Submitted version
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http://hdl.handle.net/11250/2431615Utgivelsesdato
2016Metadata
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Originalversjon
10.1007/978-3-319-49058-8_33Sammendrag
In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point to a final point. The Bump-Surface concept is used for the representation of the environment while the formation of the vehicles is presented by a deformable Delaunay triangulation. The proposed approach is presented in detail and test cases with multiple vehicles are simulated to demonstrate the efficiency of the method.