Adaptive Highways on a Grid

The primary objective of this paper is to introduce the adaptive highways algorithm, a path planning algorithm for vehicles moving on a grid. We consider a workspace that consists of a symmetric grid and a large number of vehicles that move on the grid to accomplish a certain task. Each vehicle is assigned the task of visiting a set of randomly selected locations, which are updated over time. The dynamics of the vehicles are described by a constrained linear double-integrator model. The objective is to find, in real time, a set of trajectories that maximize the average speed of the vehicles while ensuring safety. The trajectory optimization problem is solved locally, whereas a central entity is employed for distribution of information. Safety guarantees are provided through a space reservation mechanism. Several algorithms are presented and compared in terms of performance.


Editor(s):
Pradalier, C
Siegwart, R
Hirzinger, G
Published in:
Robotics Research, 70, 661-680
Presented at:
14th International Symposium on Robotics Research (ISSR), Lucerne, SWITZERLAND, AUG 31-SEP 03, 2009
Year:
2011
Publisher:
Berlin, Springer-Verlag Berlin
ISSN:
1610-7438
ISBN:
978-3-642-19456-6
Laboratories:




 Record created 2013-02-27, last modified 2018-03-17


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