Velocity Tuning in Currents Using Constraint Logic Programming

نویسندگان

  • Michaël Soulignac
  • Patrick Taillibert
  • Michel Rueher
چکیده

Because of its NP-hardness, motion planning among moving obstacles is commonly divided into two tasks: path planning and velocity tuning. The corresponding algorithms are very efficient but ignore weather conditions, in particular the presence of currents. However, when vehicles are small or slow, the impact of currents becomes significant and cannot be neglected. Path planning techniques have been adapted to handle currents, but it is not the case of velocity tuning. That is why we propose here a new approach, based on Constraint Logic Programming (CLP). We show that the use of CLP is both computationally efficient and flexible. It allows to easily integrate additional constraints, especially time-varying currents.

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تاریخ انتشار 2007