Planning Movements for Several Coordinated Vehicles in Traac Situation Planning Movements for Several Coordinated Vehicles in Traac Situation

| This paper describes the higher level of a system for controlling a set of non-holonomic vehicles moving in a dynamic environment|i.e. among static and moving objects|. This higher level is concerned with planning a trajectory for each vehicle whereas the execution of the plan is distributed at the level of each vehicle. The approach taken consists of assigning priorities to the vehicles, then planning motions one vehicle at a time. For each vehicle, we use a path/velocity decomposition taking into account its kinematic constraints. Planning in a dynamic universe requires us to consider the movements of the other moving objects; In particular, we need an estimation of their behaviour. The uncertainty of objects' motions leads us to plan on a short span of time representing the duration over which it is considered that the hypothesis made about the evolution of the moving objects are sound. Abstract This paper describes the higher level of a system for controlling a set of non-holonomic vehicles moving in a dynamic environment|i.e. among static and moving objects|. This higher level is concerned with planning a trajectory for each vehicle whereas the execution of the plan is distributed at the level of each vehicle. The approach taken consists of assigning priorities to the vehicles, then planning motions one vehicle at a time. For each vehicle, we use a path/velocity decomposition taking into account its kinematic constraints. Planning in a dynamic universe requires us to consider the movements of the other moving objects; In particular, we need an estimation of their behaviour. The uncertainty of objects' motions leads us to plan on a short span of time representing the duration over which it is considered that the hypothesis made about the evolution of the moving objects are sound.