5 May 2017 Adaptive formation control for route-following ground vehicles
Author Affiliations +
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.
Conference Presentation
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Greg Droge, Greg Droge, Alexander Xydes, Alexander Xydes, Amir Rahmani, Amir Rahmani, Chris Scrapper, Chris Scrapper, } "Adaptive formation control for route-following ground vehicles", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950K (5 May 2017); doi: 10.1117/12.2266874; https://doi.org/10.1117/12.2266874

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