Path Planning of Swarm Rigid Motion for Multi Intelligent Agents Based on Geometric Methods

Based on geometric mathods, rigid body motion is studied on SE(3). As to the path planning problem of multi intelligent agents with known boundary conditions, virtual structure is adopted. Under the kinetic energy function, the optimal path is deduced on SE(3). The resulting trajectories are smooth and invariable to the interia frame. The mathod can be used widely to the motion planning of multi intelligent agents.