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  • Není k dispozici (cs)
  • 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.
  • 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. (en)
Title
  • Formation Driving Using Particle Swarm Optimization and Reactive Obstacle Avoidance
  • Není k dispozici (cs)
  • Formation Driving Using Particle Swarm Optimization and Reactive Obstacle Avoidance (en)
skos:prefLabel
  • Formation Driving Using Particle Swarm Optimization and Reactive Obstacle Avoidance
  • Není k dispozici (cs)
  • Formation Driving Using Particle Swarm Optimization and Reactive Obstacle Avoidance (en)
skos:notation
  • RIV/68407700:21230/06:03124387!RIV07-MSM-21230___
http://linked.open.../vavai/riv/strany
  • 32 ; 37
http://linked.open...avai/riv/aktivita
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  • S
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  • 476174
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/06:03124387
http://linked.open...riv/jazykVysledku
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  • carlike robots; formation driving; leader following; multi robot; obstacle avoidance; particle swarm optimization; path planning (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [084DAC6FC040]
http://linked.open...v/mistoKonaniAkce
  • Salvador
http://linked.open...i/riv/mistoVydani
  • Lisboa
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  • Proceedings - First IFAC Workshop on Multivehicle Systems
http://linked.open...in/vavai/riv/obor
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  • Saska, Martin
  • Hess, M.
  • Schiling, K.
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
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  • Instituto Suparior Téchnico Av. Rovisco Pais
https://schema.org/isbn
  • 85-87978-12-8
http://localhost/t...ganizacniJednotka
  • 21230
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