TY - GEN
T1 - Multi-vehicle path coordination under communication constraints
AU - Abichandani, Pramod
AU - Benson, Hande Y.
AU - Kam, Moshe
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - We generate time-optimal velocity profiles for a group of path-constrained vehicles with fixed and known initial and goal locations. Each vehicle robot must follow a fixed path, arrive at its goal as quickly as possible (or at least not increase the time for the last robot to arrive at its goal) and stay in communication with other robots in the arena throughout its journey. We seek to solve this multi-objective optimization problem by generating optimal velocities along the paths. The problem is formulated as a nonlinear programming problem (NLP) with constraints on the kinematics, dynamics, collision avoidance and communication. Solutions demonstrate the trade off between the arrival time, the required transmission power and the communication connectivity requirements. Typically the optimization improved connectivity at no appreciable cost in journey time (as measured by the time of arrival of the last-arriving robot).
AB - We generate time-optimal velocity profiles for a group of path-constrained vehicles with fixed and known initial and goal locations. Each vehicle robot must follow a fixed path, arrive at its goal as quickly as possible (or at least not increase the time for the last robot to arrive at its goal) and stay in communication with other robots in the arena throughout its journey. We seek to solve this multi-objective optimization problem by generating optimal velocities along the paths. The problem is formulated as a nonlinear programming problem (NLP) with constraints on the kinematics, dynamics, collision avoidance and communication. Solutions demonstrate the trade off between the arrival time, the required transmission power and the communication connectivity requirements. Typically the optimization improved connectivity at no appreciable cost in journey time (as measured by the time of arrival of the last-arriving robot).
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U2 - 10.1109/ACC.2008.4586566
DO - 10.1109/ACC.2008.4586566
M3 - Conference contribution
AN - SCOPUS:52449093176
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 650
EP - 656
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -