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.


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    Title :

    Path Planning for Formation Control of Autonomous Vehicles


    Contributors:


    Publication date :

    2016-11-29


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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