Formation Driving Using Particle Swarm Optimization and Reactive Obstacle Avoidance
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F06%3A03124387" target="_blank" >RIV/68407700:21230/06:03124387 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Formation Driving Using Particle Swarm Optimization and Reactive Obstacle Avoidance
Original language description
This paper presents a new leader following approach for a formation of carlike robots. The path planning problem is solved for the leader with optimized spline functions, which are generated by an evolutionary technique called particle swarm optimization. Because of the expansion of the formation, a collision free path is not guaranteed for the following vehicles. In our approach the followers reactively avoid collisions with path-blocking obstacles and also with other robots within the formation. The developed algorithms have been tested intensively in various simulations.
Czech name
Není k dispozici
Czech description
Není k dispozici
Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2006
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings - First IFAC Workshop on Multivehicle Systems
ISBN
85-87978-12-8
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
32-37
Publisher name
Instituto Suparior Téchnico Av. Rovisco Pais
Place of publication
Lisboa
Event location
Salvador
Event date
Oct 2, 2006
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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