Path Planning for a Collection of Vehicles With Yaw Rate Constraints

Sivakumar Rathinam (), Raja Sengupta and Swaroop Darbha
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Sivakumar Rathinam: University of California
Raja Sengupta: University of California
Swaroop Darbha: Texas A & M University

A chapter in Cooperative Systems, 2007, pp 255-268 from Springer

Abstract: Summary Multi-vehicle systems are naturally encountered in civil and military applications. Cooperation amongst individual “miniaturized” vehicles allows for flexibility to accomplish missions that a single large vehicle may not readily be able to accomplish. While accomplishing a mission, motion planning algorithms are required to efficiently utilize a common resource (such as the total fuel in the collection of vehicles) or to minimize a collective cost function (such as the maximum time taken by the vehicles to reach their intended destination). The objective of this chapter is to present a constant factor approximation algorithm for planning the path of each vehicle in a collection of vehicles, where the motion of each vehicle must satisfy yaw rate constraints.

Keywords: Path Planning; Minimum Span Tree; Cost Edge; Single Vehicle; Eulerian Graph (search for similar items in EconPapers)
Date: 2007
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DOI: 10.1007/978-3-540-48271-0_15

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