Constrained Navigation with Mandatory Waypoints in Uncertain Environment
Résumé
This paper presents a hybrid solving method for vehicle path planning problems. As part of the vehicle system architecture (vetronic), planning is dynamic and has to be activated on-line, which requires response times to be compatible with mission execution. The proposed approach combines constraint solving techniques with an Ant Colony Optimization (ACO). The hybridization relies on a static probing technique which builds up a search strategy using a distance information between problem variables and a heuristic solution. Various forms of this approach are compared and evaluated on real world scenarios. Preliminary results exhibit response times close to vehicle control requirements, on realistic problem instances.
Domaines
Automatique / Robotique
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946980IJISCE-Constrained_Navigation_with_Mandatory_Waypoints_in_Uncertain_Environment.pdf (267.13 Ko)
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