Adaptive formation control for route-following ground vehicles

Greg Droge; Alexander Xydes; Amir Rahmani; Chris Scrapper

doi:10.1117/12.2266874

5 May 2017 Adaptive formation control for route-following ground vehicles

Greg Droge, Alexander Xydes, Amir Rahmani, Chris Scrapper

Proceedings Volume 10195, Unmanned Systems Technology XIX; 101950K (2017) https://doi.org/10.1117/12.2266874
Event: SPIE Defense + Security, 2017, Anaheim, CA, United States

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.

Conference Presentation

Citation Download Citation

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 (5 May 2017); https://doi.org/10.1117/12.2266874

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available