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Proceedings Paper

Adaptive formation control for route-following ground vehicles
Author(s): Greg Droge; Alexander Xydes; Amir Rahmani; Chris Scrapper
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Paper Abstract

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.

Paper Details

Date Published: 5 May 2017
PDF: 14 pages
Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950K (5 May 2017); doi: 10.1117/12.2266874
Show Author Affiliations
Greg Droge, SPAWAR Systems Ctr. Pacific (United States)
Alexander Xydes, SPAWAR Systems Ctr. Pacific (United States)
Amir Rahmani, Jet Propulsion Lab. (United States)
Chris Scrapper, SPAWAR Systems Ctr. Pacific (United States)

Published in SPIE Proceedings Vol. 10195:
Unmanned Systems Technology XIX
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen, Editor(s)

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