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...Liu and Bucknall [14] suggested a constrained fast marching method to solve the problem of USV formation path planning in dynamic environments....
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...Liu and Bucknall [14] suggested a constrained...
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6,515 citations
...Based on the124 potential field, the vehicle can then be guided by following total field gradient.125 Detailed explanation of this can be referred to Khatib (1986) and Ge and Cui126 (2002).127 In terms of implementation of APF in formation path planning, besides potential128 fields around target…...
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3,008 citations
...In 80 the work of Balch and Arkin (1998), formation maintenance is integrated with 81 other missions such as goal keeping and collision avoidance and the control of 82 each vehicle is the result of a weighted function of these missions....
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...In80 the work of Balch and Arkin (1998), formation maintenance is integrated with81 other missions such as goal keeping and collision avoidance and the control of82 each vehicle is the result of a weighted function of these missions.83 2.2....
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808 citations
...125 Detailed explanation of this can be referred to Khatib (1986) and Ge and Cui 126 (2002). 127 In terms of implementation of APF in formation path planning, besides potential 128 fields around target point and obstacles, new fields need to be constructed to 129 keep formation distances as well as avoid collision between vehicles within the 130 formation. Wang et al. (2008) first constructed such potential fields by referring 131 to the concepts of electric field. Each vehicle was treated as point in the electric 132 field with varying electrical polarity. If the distance between vehicles was larger 133 than the expected value, opposite charges were used to attract them to move 134 towards each other; otherwise, like polarities were used to prevent them from 135 colliding when two vehicles were moving within close proximity. 136 Paul et al. (2008) also applied APF method to solve the problem of UAV forma137 tion path planning. Attractive fields between leader-follower as well as follower138 follower were built to keep formation shape, and repulsive fields were used to 139 prevent internal collision as well as collision with obstacles. To increase control 140 accuracy as well as to better address the formation shape maintenance prob141 lem, attractive potential field was a function of the error value between desired 142 distance and actual leader-follower or follower-follower distance such that any 143 deflection from the desired position can be quickly modified and corrected. 144 Yang et al. (2011) published work on motion planning for UUV formation in 145 an environment with obstacles based on APF....
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...104 (2006), Kala (2012), Qu et al. (2013)), particle swarm optimisation (Duan et al....
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...125 Detailed explanation of this can be referred to Khatib (1986) and Ge and Cui 126 (2002). 127 In terms of implementation of APF in formation path planning, besides potential 128 fields around target point and obstacles, new fields need to be constructed to 129 keep formation distances as well as avoid collision between vehicles within the 130 formation. Wang et al. (2008) first constructed such potential fields by referring 131 to the concepts of electric field....
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...125 Detailed explanation of this can be referred to Khatib (1986) and Ge and Cui 126 (2002). 127 In terms of implementation of APF in formation path planning, besides potential 128 fields around target point and obstacles, new fields need to be constructed to 129 keep formation distances as well as avoid collision between vehicles within the 130 formation. Wang et al. (2008) first constructed such potential fields by referring 131 to the concepts of electric field. Each vehicle was treated as point in the electric 132 field with varying electrical polarity. If the distance between vehicles was larger 133 than the expected value, opposite charges were used to attract them to move 134 towards each other; otherwise, like polarities were used to prevent them from 135 colliding when two vehicles were moving within close proximity. 136 Paul et al. (2008) also applied APF method to solve the problem of UAV forma137 tion path planning....
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...125 Detailed explanation of this can be referred to Khatib (1986) and Ge and Cui 126 (2002). 127 In terms of implementation of APF in formation path planning, besides potential 128 fields around target point and obstacles, new fields need to be constructed to 129 keep formation distances as well as avoid collision between vehicles within the 130 formation....
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566 citations
221 citations
...…defined steps to search98 for the solution whereas heuristic approach only searches inside a subspace of99 the search space without following rigorous procedures (Tam et al. (2009)) .100 Heuristic approach is designed to provide solutions when classic search methods101 fail to find exact solutions....
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