engleski

Trajectory Planning Based on Collocation Methods for Adaptive Motion Control of Multiple Aerial and Ground Autonomous Vehicles

The study presented in this chapter covers behavior analysis of different PS collocation methods when they are used in vehicle trajectory planning. Although PS collocation methods have been formulated in the general case in the literature, it is important to analyze how certain aspects such as discretization or approximation of the solution, for example, may affect their performance for trajectory planning problems. The work presented in this chapter covers specific aspects such as accuracy, scalability (number of vehicles in a scenario), and computation time for implementation in real time. Finally, a new collocation algorithm designed especially for trajectory planning of multiple vehicles moving simultaneously in the same area is developed and presented, and comparative results with the previous methods are presented in multiple scenarios, validated in simulation and real experiments.

pseudospectral collocation methods, control of multiple autonomous vehicles

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