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