A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model

Qi Wang; Xuting Duan; Haiying Xia; Jianshan Zhou

doi:10.1007/978-981-99-0479-2_135

A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model

Qi Wang
, Xuting Duan^*
, Haiying Xia
, Jianshan Zhou

^*Corresponding author for this work

School of Transportation Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

With the continuous application and development of unmanned technology in the military field, unmanned combat systems have gradually become an important force in modern warfare and even future warfare. The purpose of this paper is to study the coordinated formation movement planning of multiple unmanned wheeled combat vehicles under the background of focusing on the development of the future war situation. The typical formation framework of the leader-follower structure is used to combine quadratic programming and polynomial planning methods to realize the trajectory planning of formation members, and the decoupling planning is carried out based on the Frenet coordinate system to reduce the dimension and simplify the problem. The strategy of virtual vehicles guiding followers is proposed to ensure the stable driving of the formation. Finally, experiments are carried out on the Gazebo simulation platform and the real environment, which proves the effectiveness of the method.

Original language	English
Title of host publication	Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
Editors	Wenxing Fu, Mancang Gu, Yifeng Niu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1471-1481
Number of pages	11
ISBN (Print)	9789819904785
DOIs	https://doi.org/10.1007/978-981-99-0479-2_135
State	Published - 2023
Event	International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, China Duration: 23 Sep 2022 → 25 Sep 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1010 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Autonomous Unmanned Systems, ICAUS 2022
Country/Territory	China
City	Xi'an
Period	23/09/22 → 25/09/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 16 Peace, Justice and Strong Institutions

Keywords

Leader-follower
Motion planning
Quadratic programming
Unmanned combat systems

Access to Document

10.1007/978-981-99-0479-2_135

Cite this

Wang, Q., Duan, X., Xia, H., & Zhou, J. (2023). A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model. In W. Fu, M. Gu, & Y. Niu (Eds.), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022 (pp. 1471-1481). (Lecture Notes in Electrical Engineering; Vol. 1010 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0479-2_135

Wang, Qi ; Duan, Xuting ; Xia, Haiying et al. / A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model. Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. editor / Wenxing Fu ; Mancang Gu ; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 1471-1481 (Lecture Notes in Electrical Engineering).

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title = "A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model",

abstract = "With the continuous application and development of unmanned technology in the military field, unmanned combat systems have gradually become an important force in modern warfare and even future warfare. The purpose of this paper is to study the coordinated formation movement planning of multiple unmanned wheeled combat vehicles under the background of focusing on the development of the future war situation. The typical formation framework of the leader-follower structure is used to combine quadratic programming and polynomial planning methods to realize the trajectory planning of formation members, and the decoupling planning is carried out based on the Frenet coordinate system to reduce the dimension and simplify the problem. The strategy of virtual vehicles guiding followers is proposed to ensure the stable driving of the formation. Finally, experiments are carried out on the Gazebo simulation platform and the real environment, which proves the effectiveness of the method.",

keywords = "Leader-follower, Motion planning, Quadratic programming, Unmanned combat systems",

author = "Qi Wang and Xuting Duan and Haiying Xia and Jianshan Zhou",

note = "Publisher Copyright: {\textcopyright} 2023, Beijing HIWING Sci. and Tech. Info Inst.; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",

year = "2023",

doi = "10.1007/978-981-99-0479-2\_135",

language = "英语",

isbn = "9789819904785",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "1471--1481",

editor = "Wenxing Fu and Mancang Gu and Yifeng Niu",

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address = "德国",

}

Wang, Q, Duan, X, Xia, H & Zhou, J 2023, A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model. in W Fu, M Gu & Y Niu (eds), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Lecture Notes in Electrical Engineering, vol. 1010 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 1471-1481, International Conference on Autonomous Unmanned Systems, ICAUS 2022, Xi'an, China, 23/09/22. https://doi.org/10.1007/978-981-99-0479-2_135

A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model. / Wang, Qi; Duan, Xuting; Xia, Haiying et al.
Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. ed. / Wenxing Fu; Mancang Gu; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. p. 1471-1481 (Lecture Notes in Electrical Engineering; Vol. 1010 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model

AU - Wang, Qi

AU - Duan, Xuting

AU - Xia, Haiying

AU - Zhou, Jianshan

PY - 2023

Y1 - 2023

N2 - With the continuous application and development of unmanned technology in the military field, unmanned combat systems have gradually become an important force in modern warfare and even future warfare. The purpose of this paper is to study the coordinated formation movement planning of multiple unmanned wheeled combat vehicles under the background of focusing on the development of the future war situation. The typical formation framework of the leader-follower structure is used to combine quadratic programming and polynomial planning methods to realize the trajectory planning of formation members, and the decoupling planning is carried out based on the Frenet coordinate system to reduce the dimension and simplify the problem. The strategy of virtual vehicles guiding followers is proposed to ensure the stable driving of the formation. Finally, experiments are carried out on the Gazebo simulation platform and the real environment, which proves the effectiveness of the method.

AB - With the continuous application and development of unmanned technology in the military field, unmanned combat systems have gradually become an important force in modern warfare and even future warfare. The purpose of this paper is to study the coordinated formation movement planning of multiple unmanned wheeled combat vehicles under the background of focusing on the development of the future war situation. The typical formation framework of the leader-follower structure is used to combine quadratic programming and polynomial planning methods to realize the trajectory planning of formation members, and the decoupling planning is carried out based on the Frenet coordinate system to reduce the dimension and simplify the problem. The strategy of virtual vehicles guiding followers is proposed to ensure the stable driving of the formation. Finally, experiments are carried out on the Gazebo simulation platform and the real environment, which proves the effectiveness of the method.

KW - Leader-follower

KW - Motion planning

KW - Quadratic programming

KW - Unmanned combat systems

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U2 - 10.1007/978-981-99-0479-2_135

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M3 - 会议稿件

AN - SCOPUS:85151045414

SN - 9789819904785

T3 - Lecture Notes in Electrical Engineering

SP - 1471

EP - 1481

BT - Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022

A2 - Fu, Wenxing

A2 - Gu, Mancang

A2 - Niu, Yifeng

PB - Springer Science and Business Media Deutschland GmbH

T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2022

Y2 - 23 September 2022 through 25 September 2022

ER -

Wang Q, Duan X, Xia H, Zhou J. A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model. In Fu W, Gu M, Niu Y, editors, Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 1471-1481. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-0479-2_135

A Multi-agent Autonomous Formation Motion Planning Method for Car-Like Robots Based on the Leader-Follower Model

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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