Planning a trajectory that is optimal according to some performance criterion, collision-free, and feasible with respect to dynamic and actuation constraints is a key functionality of an autonomous vehicle. Poli-RRT* is a sample-based planning algorithm that serves this purpose for a single vehicle with feedback linearisable dynamics. This paper extends Poli-RRT* to a multi-agent cooperative setting where multiple vehicles share the same environment and need to avoid each other besides some static obstacles.

Multi-agent Poli-RRT* Optimal constrained RRT-based planning for multiple vehicles with feedback linearisable dynamics

RAGAGLIA, MATTEO;PRANDINI, MARIA;BASCETTA, LUCA
2016-01-01

Abstract

Planning a trajectory that is optimal according to some performance criterion, collision-free, and feasible with respect to dynamic and actuation constraints is a key functionality of an autonomous vehicle. Poli-RRT* is a sample-based planning algorithm that serves this purpose for a single vehicle with feedback linearisable dynamics. This paper extends Poli-RRT* to a multi-agent cooperative setting where multiple vehicles share the same environment and need to avoid each other besides some static obstacles.
2016
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
9783319476049
9783319476049
AUT
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1009506
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