CN112596516A - 基于Dubins曲线的多车队形切换方法 - Google Patents
基于Dubins曲线的多车队形切换方法 Download PDFInfo
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- CN112596516A CN112596516A CN202011371251.2A CN202011371251A CN112596516A CN 112596516 A CN112596516 A CN 112596516A CN 202011371251 A CN202011371251 A CN 202011371251A CN 112596516 A CN112596516 A CN 112596516A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114815852A (zh) * | 2022-06-14 | 2022-07-29 | 北京航空航天大学 | 一种基于空间离散化的cacc车队轨迹规划方法 |
Citations (10)
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US20160209849A1 (en) * | 2015-01-15 | 2016-07-21 | William Dale Arbogast | System and method for decentralized, multi-agent unmanned vehicle navigation and formation control |
CN107943071A (zh) * | 2017-11-03 | 2018-04-20 | 中国科学院自动化研究所 | 无人车的编队保持控制方法及系统 |
CN108594824A (zh) * | 2018-05-23 | 2018-09-28 | 南京航空航天大学 | 一种基于视觉导航和超声波阵列的车辆编队装置和方法 |
CN109871032A (zh) * | 2019-03-04 | 2019-06-11 | 中科院成都信息技术股份有限公司 | 一种基于模型预测控制的多无人机编队协同控制方法 |
CN110119158A (zh) * | 2019-05-13 | 2019-08-13 | 浙江大学 | 一种高亚音速无人飞行器多机协同编队控制系统及方法 |
CN110502009A (zh) * | 2019-08-14 | 2019-11-26 | 南京理工大学 | 基于航向预估的无人驾驶车辆路径跟踪控制方法 |
CN110658847A (zh) * | 2019-09-30 | 2020-01-07 | 北京航空航天大学 | 一种利用遗传算法和Dubins算法实现无人机群队形重构的方法 |
CN110930766A (zh) * | 2019-12-02 | 2020-03-27 | 武汉理工大学 | 一种基于图论与势场方法的无人车多车道护航编队方法 |
CN110989639A (zh) * | 2019-12-31 | 2020-04-10 | 中国电子科技集团公司信息科学研究院 | 一种基于应力矩阵的水下航行器编队控制方法 |
US20200242286A1 (en) * | 2019-01-25 | 2020-07-30 | Nvicta LLC. | Optimal Path Planning For Directional Drilling |
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2020
- 2020-11-30 CN CN202011371251.2A patent/CN112596516B/zh active Active
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US20160209849A1 (en) * | 2015-01-15 | 2016-07-21 | William Dale Arbogast | System and method for decentralized, multi-agent unmanned vehicle navigation and formation control |
CN107943071A (zh) * | 2017-11-03 | 2018-04-20 | 中国科学院自动化研究所 | 无人车的编队保持控制方法及系统 |
CN108594824A (zh) * | 2018-05-23 | 2018-09-28 | 南京航空航天大学 | 一种基于视觉导航和超声波阵列的车辆编队装置和方法 |
US20200242286A1 (en) * | 2019-01-25 | 2020-07-30 | Nvicta LLC. | Optimal Path Planning For Directional Drilling |
CN109871032A (zh) * | 2019-03-04 | 2019-06-11 | 中科院成都信息技术股份有限公司 | 一种基于模型预测控制的多无人机编队协同控制方法 |
CN110119158A (zh) * | 2019-05-13 | 2019-08-13 | 浙江大学 | 一种高亚音速无人飞行器多机协同编队控制系统及方法 |
CN110502009A (zh) * | 2019-08-14 | 2019-11-26 | 南京理工大学 | 基于航向预估的无人驾驶车辆路径跟踪控制方法 |
CN110658847A (zh) * | 2019-09-30 | 2020-01-07 | 北京航空航天大学 | 一种利用遗传算法和Dubins算法实现无人机群队形重构的方法 |
CN110930766A (zh) * | 2019-12-02 | 2020-03-27 | 武汉理工大学 | 一种基于图论与势场方法的无人车多车道护航编队方法 |
CN110989639A (zh) * | 2019-12-31 | 2020-04-10 | 中国电子科技集团公司信息科学研究院 | 一种基于应力矩阵的水下航行器编队控制方法 |
Non-Patent Citations (1)
Title |
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张洪海: "基于路径 速度解耦的无人机编队协同轨迹规划", 《系统工程与电子技术》 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114815852A (zh) * | 2022-06-14 | 2022-07-29 | 北京航空航天大学 | 一种基于空间离散化的cacc车队轨迹规划方法 |
CN114815852B (zh) * | 2022-06-14 | 2023-02-03 | 北京航空航天大学 | 一种基于空间离散化的cacc车队轨迹规划方法 |
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