Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00210714" target="_blank" >RIV/68407700:21230/13:00210714 - isvavai.cz</a>
Result on the web
<a href="http://link.springer.com/article/10.1007%2Fs10846-013-9829-3" target="_blank" >http://link.springer.com/article/10.1007%2Fs10846-013-9829-3</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10846-013-9829-3" target="_blank" >10.1007/s10846-013-9829-3</a>

Result language
angličtina
Original language name
Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs
Original language description
This article presents a control approach that enables an autonomous operation of fleets of unmanned snow ploughs at large airports. The proposed method is suited for the special demands of tasks of the airport snow shovelling. The robots have to keep a compact formation of variable shapes during moving into the locations of their deployment and for the autonomous sweeping of runways surfaces. These tasks are solved in two independent modes of the airport snow shoveling. The moving and the sweeping modesprovide a full-scale solution of the trajectory planning and coordination of vehicles applicable in the specific airport environment. Nevertheless, they are suited for any multi-robot application that requires complex manoeuvres of compact formations indynamic environment. The approach encapsulates the dynamic trajectory planning and the control of the entire formation into one merged optimization process via a novel Model Predictive Control (MPC) based methodology. The obtained soluti
Czech name
—
Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Project
<a href="/en/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilization of ?-UAV swarms under decentralized relative localization.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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