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Path Planning for a Collection of Vehicles With Yaw Rate Constraints

In: Cooperative Systems

Author

Listed:
  • Sivakumar Rathinam

    (University of California)

  • Raja Sengupta

    (University of California)

  • Swaroop Darbha

    (Texas A & M University)

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.

Suggested Citation

  • Sivakumar Rathinam & Raja Sengupta & Swaroop Darbha, 2007. "Path Planning for a Collection of Vehicles With Yaw Rate Constraints," Lecture Notes in Economics and Mathematical Systems, in: Don Grundel & Robert Murphey & Panos Pardalos & Oleg Prokopyev (ed.), Cooperative Systems, pages 255-268, Springer.
    • Handle: RePEc:spr:lnechp:978-3-540-48271-0_15
    DOI: 10.1007/978-3-540-48271-0_15
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