Path Planning for Multi-Vehicle Autonomous Swarms in Dynamic Environment

被引：0
|
作者：
Jann, Mudassir [1 ]
Anavatt, Sreenatha [1 ]
Biswas, Sumana [1 ]
机构：
[1] Univ New South Wales, Sch Engn & Informat Technol, Canberra, ACT, Australia
来源：
2017 NINTH INTERNATIONAL CONFERENCE ON ADVANCED COMPUTATIONAL INTELLIGENCE (ICACI) | 2017年
关键词：
dynamic path planning; multi-agent; swarm; decentralized control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper aims at investigating the dynamic path planning of a multi-agent autonomous swarm to execute a task of traversing a certain terrain with specified start and goal state. The area under consideration also includes a specified number of secondary goals/checkpoints to be explored/visited by at-least one vehicle of the swarm while avoiding the static and dynamic obstacles. The decision about the traversal to the checkpoints is made by the swarm itself, thus providing a decentralized control. Mite is employed for dynamic path planning. Numerical simulation results are presented to validate the path planning algorithm with different number of agents and obstacles.
引用
收藏
页码：48 / 53
页数：6
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