Multi-vehicle path planning in dynamically changing environments

In this paper, we propose a path planning method for nonholonomic multi-vehicle system in presence of moving obstacles. The objective is to find multiple fixed length paths for multiple vehicles with the following properties: (i) bounded curvature (ii) obstacle avoidant (iii) collision free. Our app...

Full description

Saved in:
Bibliographic Details
Published in2009 IEEE International Conference on Robotics and Automation pp. 2449 - 2454
Main Authors Ahmadzadeh, A., Motee, N., Jadbabaie, A., Pappas, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2009
Subjects
Control systems
Force control
Joining processes
Kinematics
Navigation
Path planning
Robot control
Robotics and automation
Systems engineering and theory
Vehicles
Online AccessGet full text
ISBN1424427886
9781424427888
ISSN1050-4729
DOI10.1109/ROBOT.2009.5152520

Cover

More Information
Summary:In this paper, we propose a path planning method for nonholonomic multi-vehicle system in presence of moving obstacles. The objective is to find multiple fixed length paths for multiple vehicles with the following properties: (i) bounded curvature (ii) obstacle avoidant (iii) collision free. Our approach is based on polygonal approximation of a continuous curve. Using this idea, we formulate an arbitrarily fine relaxation of the path planning problem as a nonconvex feasibility optimization problem. Then, we propound a nonsmooth dynamical systems approach to find feasible solutions of this optimization problem. It is shown that the trajectories of the nonsmooth dynamical system always converge to some equilibria that correspond to the set of feasible solutions of the relaxed problem. The proposed framework can handle more complex mission scenarios for multi-vehicle systems such as rendezvous and area coverage.
ISBN:1424427886
9781424427888
ISSN:1050-4729
DOI:10.1109/ROBOT.2009.5152520