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

作者：Ma Yong; Wang Hongwei^*; Zamirian M

来源：Physics Letters A, 2012, 376(4): 377-386.

DOI：10.1016/j.physleta.2011.08.065

• Mobile object
• The shortest path planning
• Parametrization method
• Time-varying nonlinear programming problem
• Priority scheme
• 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 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.

• 出版日期2012-1-9
• 单位华中科技大学