Autonomous multi-vehicle formations using a pseuodospectral optimal control framework

Future civilian and military missions call for the autonomous coordination and control of unmanned vehicles. This paper presents the implementation of a pseudospectral (PS) optimal control-based algorithm for autonomous trajectory planning and control of multiple UGVs with real-time information upda...

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Bibliographic Details
Published in2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics pp. 980 - 986
Main Authors Hurni, M A, Sekhavat, P, Karpenko, M, Ross, I M
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2010
Subjects
Cost function
Lead
Leg
Optimal control
Planning
Trajectory
Vehicles
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Summary:Future civilian and military missions call for the autonomous coordination and control of unmanned vehicles. This paper presents the implementation of a pseudospectral (PS) optimal control-based algorithm for autonomous trajectory planning and control of multiple UGVs with real-time information updates. The mission of the UGVs is to maintain formation with respect to a lead vehicle traversing from a start point to a target point. Each vehicle must avoid static and dynamic obstacles including other vehicles. Real-time PS-controls accommodate unforseen events and changes in the environment that may take place over the course of the mission. Simulation results illustrate the performance of the algorithm for various multi-vehicle scenarios.
ISBN:1424480310
9781424480319
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2010.5695884