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In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
This paper presents a strategy for improving motion planning of an unmanned helicopter flying in a dense and complex city-like environment. Although Sampling Based Motion planning algorithms have shown success in many robotic problems, problems that exhibit ldquonarrow passagerdquo properties involving kinodynamic planning of high dimensional vehicles like aerial vehicles still present computational...
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