A novel cooperative path planning framework is presented for maintaining formations along a desired, unknown route where spatial and temporal objectives must be considered. It uses a reference frame based on longitudinal spacing along the route and lateral orthogonal offsets to plan for route clearance and traversal around previously unknown obstacles. By defining desired positions in terms of offsets from the route, the spatial and temporal components can be decoupled. The spatial components are planned using a two-step planner for fast real-time planning. The spatially defined paths are passed to a speed adaptation algorithm for temporal considerations including inter-vehicle collision avoidance. The approach balances real-time obstacle avoidance, spatial structure of the formation, and inter-vehicle safety considerations.
Greg Droge, Alexander Xydes, Amir Rahmani, and Chris Scrapper, "Adaptive formation control for route-following ground vehicles," Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950K (Presented at SPIE Defense + Security: April 12, 2017; Published: 5 May 2017); https://doi.org/10.1117/12.2266874.
Conference Presentations are recordings of oral presentations given at SPIE conferences and published as part of the conference proceedings. They include the speaker's narration along with a video recording of the presentation slides and animations. Many conference presentations also include full-text papers. Search and browse our growing collection of more than 14,000 conference presentations, including many plenary and keynote presentations.
Study of self-shadowing effect as a simple means to realize nanostructured thin films and layers with special attentions to birefringent obliquely deposited thin films and photo-luminescent porous silicon