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We describe a variable-velocity trajectory planning algorithm for navigating car-like robots through unknown, unstructured environments along a series of possibly corrupted GPS waypoints. The trajectories are guaranteed to be kine-matically feasible, i.e., they respect the robot's acceleration and deceleration capabilities as well as its maximum steering angle and steering rate. Their costs are computed...
This paper considers the synchronous distributed receding horizon control (RHC) for a general problem of the nonholonomic multi-vehicle systems, i.e., the simultaneous forward/backward tracking, regulation and formation with the collision avoidance. First, for each vehicle, a positively invariant terminal-state region and an auxiliary controller are developed. When every vehicle lies in its terminal-state...
To the problem of multiple UAVs collision avoidance trajectory coordination in the same aerial space, a distributed receding horizon optimization model was established. Then, a state prediction based trajectory coordination algorithm was presented. Several simulation results show that our method can bring a within-network collision avoidance capability for multiple UAVs, and multiple UAVs can coordinate...
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