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|Title:||Trajectory planning and control for multiple-vehicles systems|
|Source:||Pamosoaji, A.K.,Hong, K.-S.,Ge, S.S. (2011). Trajectory planning and control for multiple-vehicles systems. URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence : 461-466. ScholarBank@NUS Repository. https://doi.org/10.1109/URAI.2011.6145864|
|Abstract:||Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented. © 2011 IEEE.|
|Source Title:||URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence|
|Appears in Collections:||Staff Publications|
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