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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

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

Popis výsledku anglicky

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

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilizace rojů bezpilotních helikoptér používajících decentralizovanou relativní lokalizaci.</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

—

Svazek periodika

72

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

23

Strana od-do

239-261

Kód UT WoS článku

000325184900007

EID výsledku v databázi Scopus

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