This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group projection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method.
|Title of host publication||Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), 10-13 December 2012, Maui, Hawaii|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2012|