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 w...
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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.
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