具有时空约束的无人车集群构型变换方法

针对具有时空约束的无人车集群构型变换问题，采用图论方法描述集群协同关系，将集群构型变换问题分解为最小变换单元的队形变换问题. 为满足队形变换的空间约束，运用基于模型的轨迹预测方法为无人车规划提供满足起点和目标点约束的行驶路径，运用曲线插值方法规划平滑且满足时间约束的速度曲线，根据碰撞检测结果提出速度规划的边界条件. 仿真和实车实验证明了构型变换方法的有效性.

An UGV Swarm Formation Reconfiguration Method with Space-time Constraints

This study proposes a framework for formation reconfiguration of unmanned ground vehicle (UGV) swarm with space-time constraints. The graph theory method was used to describe the coordination relationship of swarm, and the swarm reconfiguration problem was decomposed into the formation transformation problem of the minimum transformation unit. To meet the space constraints of the formation transformation, the study used the model-based predictive path generation algorithm to produce the travelable path that satisfies the initial and final constrains for the UGV. The curve interpolation method was used to create a speed curve that connects the initial and final state smoothly and meets the time constraints. The boundary conditions of speed planning were then proposed based on the collision detection results. Both simulation analysis and vehicle experiments were performed to verify the effectiveness of the proposed swarm reconfiguration method.