A novel approach for multiple mobile objects path planning: Parametrization method and conflict resolution strategy

We present a new approach containing two steps to determine conflict-free paths for mobile objects in two and three dimensions with moving obstacles. Firstly, the shortest path of each object is set as goal function which is subject to collision-avoidance criterion, path smoothness, and velocity and...

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Veröffentlicht in:Physics letters. A Jg. 376; H. 4; S. 377 - 386
Hauptverfasser: Ma, Yong, Wang, Hongwei, Zamirian, M.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier B.V 09.01.2012
Schlagworte:
Conflict resolution strategy
Mobile object
Parametrization method
Priority scheme
The shortest path planning
Time-varying nonlinear programming problem
Parametrization method
Time-varying nonlinear programming problem
Priority scheme
Mobile object
The shortest path planning
Conflict resolution strategy
ISSN:0375-9601, 1873-2429
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Beschreibung
Zusammenfassung:We present a new approach containing two steps to determine conflict-free paths for mobile objects in two and three dimensions with moving obstacles. Firstly, the shortest path of each object is set as goal function which is subject to collision-avoidance criterion, path smoothness, and velocity and acceleration constraints. This problem is formulated as calculus of variation problem (CVP). Using parametrization method, CVP is converted to time-varying nonlinear programming problems (TNLPP) and then resolved. Secondly, move sequence of object is assigned by priority scheme; conflicts are resolved by multilevel conflict resolution strategy. Approach efficiency is confirmed by numerical examples. ► Approach with parametrization method and conflict resolution strategy is proposed. ► Approach fits for multi-object paths planning in two and three dimensions. ► Single object path planning and multi-object conflict resolution are orderly used. ► Path of each object obtained with parameterization method in the first phase. ► Conflict-free paths gained by multi-object conflict resolution in the second phase.
ISSN:0375-9601
1873-2429
DOI:10.1016/j.physleta.2011.08.065