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Task assignment and trajectory planning in dynamic environments for multiple vehicles
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0001-6119-6615
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0003-3513-8854
2015 (Engelska)Ingår i: Frontiers in Artificial Intelligence and Applications, ISSN 0922-6389, E-ISSN 1879-8314, Vol. 278, s. 179-181Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

We consider the problem of finding collision-free trajectories for a fleet of automated guided vehicles (AGVs) working in ship ports and freight terminals. Our solution computes collision-free trajectories for a fleet of AGVs to pick up one or more containers and transport it to a given goal without colliding with other AGVs and obstacles. We propose an integrated framework for solving the goal assignment and trajectory planning problem minimizing the maximum cost over all vehicle trajectories using the classical Hungarian algorithm. To deal with the dynamics in the environment, we refine our final trajectories with CHOMP (Covariant Hamiltonian optimization for motion planning) in order to trade off between path smoothness and dynamic obstacle avoidance. © 2015 The authors and IOS Press. All rights reserved.

Ort, förlag, år, upplaga, sidor
Washington, DC: IOS Press, 2015. Vol. 278, s. 179-181
Nyckelord [en]
Artificial intelligence, Collision avoidance, Economic and social effects, Fleet operations, Motion planning, Redundant manipulators, Trajectories, Vehicles, Automated guided vehicles, Collision-free trajectory, Dynamic environments, Dynamic obstacle avoidance, Integrated frameworks, Multirobots, Path planners, Task assignment, Automatic guided vehicles
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-36556DOI: 10.3233/978-1-61499-589-0-179Scopus ID: 2-s2.0-84963701453OAI: oai:DiVA.org:hh-36556DiVA, id: diva2:1231387
Konferens
The Thirteenth Scandinavian Conference on Artificial Intelligence, Halmstad, Sweden, 4-5 November, 2015
Tillgänglig från: 2018-07-06 Skapad: 2018-07-06 Senast uppdaterad: 2018-07-06Bibliografiskt granskad

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