Cooperative Path-planning for Autonomous Vehicles Using Dynamic Programming
نویسندگان
چکیده
It is shown how to model a cooperative path planning system for multiple autonomous air vehicles within the framework of a stochastic (dynamic programming) decision process. The proposed approach allows the vehicles to cooperate and find near-optimal search paths over a given environment in the presence of uncertainty and constraints on movement and computational power.
منابع مشابه
Approximate Dynamic Programming Methods for Cooperative Uav Search
This paper considers the decentralized dynamic programming path planning decision processes of multiple cooperating autonomous aerial vehicles (UAVs) engaged in a search of an uncertain environment. However, what sets this paper apart from previous work is that a functional approximation is used for the dynamic programming (DP) cost-to-go function, resulting in improved quality of the decisions...
متن کاملAutonomous Path Planning and Estimation using UAVs
The main contribution of this work is an online path planning framework for cooperative search and localization using unmanned aerial vehicles. In this work, a team of vehicles is used to cooperatively search for a single stationary target. A vision-based sensing system, that incorporates position and attitude uncertainty, is used to develop probabilistic likelihood functions. By accounting for...
متن کاملCooperative Control for UAV’s Searching Risky Environments for Targets
In this paper a model and algorithmic solution are created to control the path planning decision processes of multiple cooperating autonomous aerial vehicles engaged in a search of an uncertain and risky environment. Methods to incorporate a priori and dynamic information about the targets and to incorporate threats in a three-dimensional environment into a computationally feasible dynamic prog...
متن کاملOptimal Path Planner for Autonomous Vehicles
In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory genera...
متن کاملCooperative Task Assignment Using Dynamic Ranking
The paper presents a novel approach to the decentralized task assignment for multiple cooperative unmanned air systems, in a multiple target-multiple task environment. The vehicles (or agents) may have complete or partial a priori information about the targets that populate the scenario. Each vehicle autonomously computes the cost for servicing each task available at each target using a path pl...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2002