By Topic

Autonomous multi-vehicle formations using a pseuodospectral optimal control framework

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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