Abstract
In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point to a final point. The Bump-Surface concept is used for the representation of the environment while the formation of the vehicles is presented by a deformable Delaunay triangulation. The proposed approach is presented in detail and test cases with multiple vehicles are simulated to demonstrate the efficiency of the method.
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Xidias, E., Paliotta, C., Aspragathos, N., Pettersen, K. (2017). Path Planning for Formation Control of Autonomous Vehicles. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_33
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DOI: https://doi.org/10.1007/978-3-319-49058-8_33
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