Path planning for formation control of autonomous vehicles

Abstract

In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point to a final point. The Bump-Surface concept is used for the representation of the environment while the formation of the vehicles is presented by a deformable Delaunay triangulation. The proposed approach is presented in detail and test cases with multiple vehicles are simulated to demonstrate the efficiency of the method.