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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). (Intelligent Vehicles)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). (Intelligent Vehicles)
Massachusetts Institute of Technology, Cambridge, MA, USA.
2016 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
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 overall vehicle trajectories using the classical Hungarian algorithm.To deal with the dynamics in the environment, we refine our final trajectories with CHOMP (Covariant Hamiltonianoptimization for motion planning) in order to trade off between path smoothness and dynamic obstacle avoidance.

sted, utgiver, år, opplag, sider
2016.
Emneord [en]
Multi-robot, task assignment, path planner
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-31738OAI: oai:DiVA.org:hh-31738DiVA, id: diva2:951908
Konferanse
RSS 2016 Workshop on Task and Motion Planning, Ann Arbor, Michigan, USA, June 19, 2016
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Forskningsfinansiär
EU, FP7, Seventh Framework Programme, 605598Tilgjengelig fra: 2016-08-10 Laget: 2016-08-10 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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