Path Planning for Autonomous Platoon Formation

Path Planning for Formation Control of Autonomous Vehicles

Path planning for autonomous vehicles

In this study, we first address the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. Initially, we introduce the notion of pursuit fields for a single observer to track a single target around a corner based on the previous work. Pursuit fields are used to generate navigation strategies for a single observer. In order to account...

Path Planning for Autonomous Vehicles

Central problems in path planning are obstacle avoidance and path optimisation. The aim of our work was to investigate the efciency of an Evolution Strategy for optimising robot parameters in both respects. We chose a simple model in order to highlight the effect of evolution as an optimisation procedure. In our model the robot has to reach given goals from a given starting position. In our sim...

Collective Decision-Theoretic Planning for Robot Platoon Formation

The robot platooning problem has been studied extensively by the robotics community under some assumptions such as communication existance and global full observability. In this paper, we consider the platooning problem where the previous assumptions are not valid. In such a context, platooning can be considered as a specific flocking which is a collective decision model. This model can, thus, ...

Path Planning for Autonomous Qualitative NavigationN

We describe a novel global path planning method for autonomous qualitative navigation in indoor environments. Global path planning operates on top of a qualitative map of the environment that describes variations in sensor behavior between adjacent regions in space. The method takes into consideration the global topology of the environment and applies a set of criteria that can minimize the err...