TitleOptimal planning for coordinated vehicles with bounded curvature
Publication TypeBook Chapter
Year of Publication2000
AuthorsBicchi, A, Pallottino, L
EditorDonald, B, Lynch, K, Rus, D
Book TitleAlgorithmic and Computational Robotics: New Directions
Volume1
Pagination167-172
PublisherA K Peters, MA
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Navigation and Planning
AbstractIn this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.
NotesThe Workshop on Algorithmic Foundations of Robotics
AttachmentSize
PDF icon [PDF]598.03 KB