Abstract 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.
Path Planning for Formation Control of Autonomous Vehicles
29.11.2016
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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