Hierarchical system for automated path planning and scheduling

Kelly A. Korzeniowski; Charles B. McVey

doi:10.1117/12.335699

8 January 1999 Hierarchical system for automated path planning and scheduling

Kelly A. Korzeniowski, Charles B. McVey

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335699
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper describes a hierarchial system for dynamic planning and scheduling among a field of moving obstacles. The solution is directly applicable to many autonomous scenarios, such as movement on a manufacturing floor, navigation of surface/subsurface ships or coordination of air traffic. The overall system is discussed in terms of global/local perception and generative planning/reactive control. The development and implementation of the generative planner portion of the existing system are described in detail. In terms of real-time system performance, the multi-dimensional search problem is made tractable by applying two dependent 2D techniques in series. First, the shortest distance, obstacle-avoiding path to the goal is calculated, then for that path, the time to the goal is optimized. In this space-time representation of the domain, time requirements can be imposed upon the goal(s) and therefore scheduling can also be accomplished.

Citation Download Citation

Kelly A. Korzeniowski and Charles B. McVey "Hierarchical system for automated path planning and scheduling", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335699

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