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Optimizing coordinated motion planning for multiple car-like robots on a segment of highway

Published online by Cambridge University Press:  23 January 2015

Ricardo Reghelin Open the ORCID record for Ricardo Reghelin [Opens in a new window]  and
Lucia Valeria Arruda
Ricardo Reghelin*
Affiliation:
Instituto Federal Catarinense - IFC, Brazil
Lucia Valeria Arruda
Affiliation:
Universidade Tecnológica Federal do Paraná - UTFPR, CPGEI, Brazil
*
*Corresponding author. E-mail: ricardo.reghelin@saofrancisco.ifc.edu.br
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Summary

Real-time responses for multiple robots motion planning demand heuristic algorithms. This paper presents a method to evaluate the efficiency of these algorithms in order to compute coordinated trajectories for multiple car-like robots on a segment of a highway. The idea is to compare the results of these algorithms with the optimal result obtained by a proposed mixed-integer linear programming (MILP) optimization model. The MILP model considers the main elements of a traffic system, such as topography of lanes, traffic rules and individual capacity of acceleration. Moreover, new indexes for microscopic traffic assessment are proposed a well. Several tests have been carried out to validate both the MILP model and the algorithm used.

Keywords

Autonomous vehiclesTraffic optimizationMultiple robot motion planningMILP
Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2274 - 2290
Copyright
Copyright © Cambridge University Press 2015 

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