Simultaneously motion planning and scheduling for two autonomous vehicles
Authors: Elias Xidias, Andreas Nearchou, Nikos Aspragathos
Abstract
This paper considers a planning and scheduling problem for two autonomous vehicles (AVs) operating simultaneously in 2D industrial environments cluttered by obstacles. The vehicles are requested to serve all the work centers while avoiding collisions with the obstacles during their motions. The objective is to determine the shortest possible collision free tours for the AVs. A new method is introduced to solve the problem accomplished in two successive phases: first, the AVs’ environment is mapped into a 2D B-Spline surface embedded in 3D Euclidean space using the Bump-Surface concept. Then, the overall problem is expressed as a constrained optimization problem which is solved by a genetic algorithm which is applied on the generated surface to search for the optimum tours that satisfies the requirements of the vehicles’ mission. The performance of the proposed method is investigated and discussed through characteristic simulated experiments.
Dear Authors,
Thank you for your interesting paper. I have noticed that most of the cited references are somewhat old, especially those related to optimisation methods. Have you considered using one of the recently developed swarm-based optimisation technigues such as bees-based methods, ant colony optimisation methods, etc. The performance of these techniques has been shown to outperform that of GAs. Please have a look to the intelligent optimisation techniques session and the special session on the Bees Algorithm in this conference.
Regards,
Afify
Dear Authors,
Thank you very much for your contribution to IPROMS2008.
Could you please upload the video presentation and respond to any questions addressing your paper as quickly as possible.
Best wishes,
Ashraf Afify
Co-chair for the Intelligent Planning and Scheduling Systems session