TY - GEN
T1 - Modular Design and Implementation of Formation Motion Planning System for Multi-unmanned Vehicles
AU - Song, Yijing
AU - Lyu, Jingshuo
AU - Wei, Shaozhun
AU - Fang, Hao
AU - Yang, Qingkai
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - This article develops a motion planning system that combines path planning and formation control for multi-unmanned vehicles. The system adopts a modular design method, including three parts: path planning, formation control, and communication. The overall navigation system employs a leader-following strategy. Considering the ambient environment, the leader vehicle generates an optimal trajectory and corresponding velocity control commands by using the Time Elastic Band (TEB) path planning technique. The control module uses the distributed control scheme for altering the followers’ velocity, aiming to follow the leader vehicle and form the expected formation. The communication module uses UDP communication strategy to transmit parameter information among vehicles. Finally, based on the proposed motion planning system, we conducted formation obstacle avoidance experiments in ROS to verify the effectiveness of the designed structure.
AB - This article develops a motion planning system that combines path planning and formation control for multi-unmanned vehicles. The system adopts a modular design method, including three parts: path planning, formation control, and communication. The overall navigation system employs a leader-following strategy. Considering the ambient environment, the leader vehicle generates an optimal trajectory and corresponding velocity control commands by using the Time Elastic Band (TEB) path planning technique. The control module uses the distributed control scheme for altering the followers’ velocity, aiming to follow the leader vehicle and form the expected formation. The communication module uses UDP communication strategy to transmit parameter information among vehicles. Finally, based on the proposed motion planning system, we conducted formation obstacle avoidance experiments in ROS to verify the effectiveness of the designed structure.
KW - Multi-unmanned Vehicle Formation
KW - Path planning
KW - ROS
UR - http://www.scopus.com/inward/record.url?scp=85200604277&partnerID=8YFLogxK
U2 - 10.1007/978-981-97-3340-8_51
DO - 10.1007/978-981-97-3340-8_51
M3 - Conference contribution
AN - SCOPUS:85200604277
SN - 9789819733392
T3 - Lecture Notes in Electrical Engineering
SP - 580
EP - 590
BT - Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Guidance Technologies
A2 - Jiang, Guo-Ping
A2 - Wang, Mengyi
A2 - Ren, Zhang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023
Y2 - 24 November 2023 through 27 November 2023
ER -