This paper presents an on-line three dimensional trajectory planner for an unmanned vehicle following a Leader vehicle, where the Follower remains at a specified relative position with respect to the Leader. The planner defines the trajectory for a virtual vehicle that will be used as reference for the real Follower vehicle. The virtual Follower behaves like a three dimensional trailer attached to the Leader and its reference frame is used to specify the relative position vector. At the kinematic level, the proposed planner requires only the knowledge of the Leader's linear speed, but not its angular speed, and the Follower's trajectory can be generated on-line, in the sense that no a priori knowledge of the Leader's trajectory is required. Experimental results obtained with quadrotor vehicles are presented, which demonstrate the richness of the planned trajectories.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Three dimensional trajectory planner for real time leader following


    Beteiligte:
    Pereira, Pedro (Autor:in) / Cabecinhas, David (Autor:in) / Cunha, Rita (Autor:in) / Silvestre, Carlos (Autor:in) / Oliveira, Paulo (Autor:in)


    Erscheinungsdatum :

    2014-05-01


    Format / Umfang :

    923554 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    TRAJECTORY PLANNER

    FEBBO HUCKLEBERRY / HUANG JIAWEI / ISELE DAVID FRANCIS | Europäisches Patentamt | 2021

    Freier Zugriff

    Trajectory planner

    FEBBO HUCKLEBERRY / HUANG JIAWEI / ISELE DAVID FRANCIS | Europäisches Patentamt | 2024

    Freier Zugriff

    Real-Time Collision Avoidance Trajectory Planner Using Generalized Vector Explicit Guidance

    Subies Hueso, Josep / Mondal, Sabyasachi / Tsourdos, Antonios et al. | AIAA | 2023


    3D local trajectory planner

    Sasiadek, Jerzy / Duleba, Ignacy | AIAA | 1997


    Real-Time Collision Avoidance Trajectory Planner Using Generalized Vector Explicit Guidance

    Hueso, Josep Subies / Mondal, Sabyasachi / Tsourdos, Antonios et al. | TIBKAT | 2023