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Autonomous multi-vehicle formations using a pseuodospectral optimal control framework

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4 Author(s)
Hurni, M.A. ; Dept. of Weapons & Syst. Eng., United States Naval Acad., Annapolis, MD, USA ; Sekhavat, P. ; Karpenko, M. ; Ross, I.M.

Future civilian and military missions call for the autonomous coordination and control of unmanned vehicles. This paper presents the implementation of a pseudospectral (PS) optimal control-based algorithm for autonomous trajectory planning and control of multiple UGVs with real-time information updates. The mission of the UGVs is to maintain formation with respect to a lead vehicle traversing from a start point to a target point. Each vehicle must avoid static and dynamic obstacles including other vehicles. Real-time PS-controls accommodate unforseen events and changes in the environment that may take place over the course of the mission. Simulation results illustrate the performance of the algorithm for various multi-vehicle scenarios.

Published in:

Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on

Date of Conference:

6-9 July 2010

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