Constrained Motion Planning for Multiple Vehicles on SE(3)

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012

Autores

Saccon, A (Autor) Outra; Aguiar, AP (Autor) FEUP; Hausler, AJ (Autor) Outra; Hauser, J (Autor) Outra; Pascoal, AM (Autor) Outra

Ata de Conferência Internacional

Título: Proceedings of the IEEE Conference on Decision and Control

Páginas: 5637-5642

51st IEEE Conference on Decision and Control, CDC 2012

Maui, HI, 10 December 2012 through 13 December 2012

Indexação

ISI Web of Knowledge - 4 Citações

Scopus - 8 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6