Title: Generation of Temporal-Spatial Bezier Curve for Simultaneous Arrival of Multiple Unmanned Vehicles
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| Authors: Yu, W; Shuo, W; Rui, W; Min, T
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| Author Full Names: Yu, Wang; Shuo, Wang; Rui, Wang; Min, Tan
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| Source: INFORMATION SCIENCES, 418 34-45; 10.1016/j.ins.2017.07.031 DEC 2017
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| Language: English
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| Abstract: This paper investigates simultaneous arrival planning of multiple unmanned vehicles. Problem of simultaneous arrival planning is introduced and formulated. First, a Temporal Spatial(T-S) Bezier curve is constructed by considering time as a one-dimensional variable of Bezier curve. Second, constraints of minimum curvature radius, tangent acceleration and velocity are addressed to design the suboptimal T-S Bezier curve. Subsequently, the suboptimal simultaneous arrival time for multiple unmanned vehicles is calculated and obtained. Finally, simultaneous arrival planning by using a T-S Bezier is summarized. Simulations and comparisons are conducted to demonstrate the effectiveness of the proposed method. (C) 2017 Elsevier Inc. All rights reserved.
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| ISSN: 0020-0255
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| eISSN: 1872-6291
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| IDS Number: FI8LE
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| Unique ID: WOS:000412253300003
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