Trajectories for Locomotion Systems: A Geometric and Computational Approach via Series Expansions

摘要

The objective of this research has been the design and validation of innovative methods for motion planning of highly mobile all-terrain vehicles and motion coordination for multi-vehicle networks. The initial focus of this research was on algorithms for (single) vehicle trajectory generation. We have studies fast local trajectory optimization algorithms for vehicles with limited control authority. The main research focus has been on a novel class of asynchronous distributed coordination algorithms for multi-vehicle networks. We have developed coverage and coordination algorithms for communication- constrained vehicle models. The algorithms are spatially distributed in the sense that only spatially localized information is required for their implementation. We believe this is a fundamental improvement over the current state-of-the-art in motion coordination. Finally, we have developed an outdoor experimental platform, called the Multi-Rover Network Laboratory, consisting of eight model rovers equipped with embedded computers, wifeless interfaces, and sensors.