Please use this identifier to cite or link to this item: https://doi.org/10.1109/URAI.2011.6145864
Title: Trajectory planning and control for multiple-vehicles systems
Authors: Pamosoaji, A.K.
Hong, K.-S.
Ge, S.S. 
Keywords: achieving time
actuator constraints
tracking control
trajectory planning
Issue Date: 2011
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
URI: http://scholarbank.nus.edu.sg/handle/10635/72072
ISBN: 9781457707223
DOI: 10.1109/URAI.2011.6145864
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