Multivehicle Motion Planning With Posture Constraints in Real World

This article addresses the posture constraints problem in multivehicle motion planning for specific applications such as ground exploration tasks. Unlike most of the related work in motion planning, this article investigates more practical applications in the real world for nonholonomic unmanned ground vehicles (UGVs). In this case, a strategy of diversion is designed to optimize the smoothness of motion. Considering the problem of the posture constraints, a postured collision avoidance algorithm is proposed for the motion planning of the multiple nonholonomic UGVs. Two simulation experiments were conducted to verify the effectiveness and analyze the quantitative performance of the proposed method. Then, the practicability of the proposed algorithm was verified with an experiment in a natural environment.

Automated summary

This article explores the posture constraints problem in multi-vehicle motion planning, proposing a posture collision avoidance algorithm to optimize motion smoothness and improve the planning effectiveness for nonholonomic unmanned ground vehicles. The effectiveness and practicality of the proposed algorithm were verified through simulation experiments and experiments in natural environments.