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

作     者：Ma, Yong Wang, Hongwei Zamirian, M. 

作者机构：Huazhong Univ Sci & Technol Inst Syst Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China Islamic Azad Univ Bojnourd Branch Dept Math Bojnourd Iran 

出 版 物：《PHYSICS LETTERS A》 (Phys Lett Sect A Gen At Solid State Phys)

年 卷 期：2012年第376卷第4期

页      面：377-386页

核心收录：

学科分类：07[理学] 0702[理学-物理学] 

基　　金：National Science Foundation of China [90924301  70971046] 

主　　题：Mobile object The shortest path planning Parametrization method Time-varying nonlinear programming problem Priority scheme Conflict resolution strategy 

摘      要：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. (C) 2011 Elsevier B.V. All rights reserved.