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What is UGV Planning and Control Framework about?

This document presents a framework for planning and controlling formations of multiple unmanned ground vehicles (UGVs) traversing between goal points in a dynamic environment. The framework uses Dijkstra search to find via points between goals, generates smooth trajectories between via points using cubic splines, and employs a Lyapunov-based tracking controller. Experiments in a laboratory environment demonstrate trajectory generation and tracking for single UGVs and formations that change configuration to

Author

Xepost

Language

EN