Path planning for multi-vehicle autonomous swarms in dynamic environment

This paper aims at investigating the dynamic path planning of a multi-agent autonomous swarm to execute a task of traversing a certain terrain with specified start and goal state. The area under consideration also includes a specified number of secondary goals/checkpoints to be explored/visited by a...

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Bibliographic Details
Published in2017 Ninth International Conference on Advanced Computational Intelligence (ICACI) pp. 48 - 53
Main Authors Jann, Mudassir, Anavatti, Sreenatha, Biswas, Sumana
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2017
Subjects
Decentralized control
dynamic path planning
Heuristic algorithms
multi-agent
Path planning
swarm
Vehicle dynamics
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Summary:This paper aims at investigating the dynamic path planning of a multi-agent autonomous swarm to execute a task of traversing a certain terrain with specified start and goal state. The area under consideration also includes a specified number of secondary goals/checkpoints to be explored/visited by at-least one vehicle of the swarm while avoiding the static and dynamic obstacles. The decision about the traversal to the checkpoints is made by the swarm itself, thus providing a decentralized control. D*lite is employed for dynamic path planning. Numerical simulation results are presented to validate the path planning algorithm with different number of agents and obstacles.
DOI:10.1109/ICACI.2017.7974484