Constrained Motion Planning for Multiple Vehicles on SE(3)

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

Saccon, A (Author) Other; Aguiar, AP (Author) FEUP; Hausler, AJ (Author) Other; Hauser, J (Author) Other; Pascoal, AM (Author) Other

Conference proceedings International

Title: Proceedings of the IEEE Conference on Decision and Control

Pages: 5637-5642

51st IEEE Conference on Decision and Control, CDC 2012

Maui, HI, 10 December 2012 through 13 December 2012

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 8 Citations

Other information

Authenticus ID: P-008-9KD

DOI: 10.1109/cdc.2012.6426697

Abstract (EN): This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group projection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6