Artificial potential guided evolutionary path plan for multi-vehicle multi-target pursuit

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	Artificial potential guided evolutionary path plan for multi-vehicle multi-target pursuit
	Zu D(祖迪); Han JD(韩建达); Campbell, M
	2004
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
会议日期	August 22-26, 2004
会议地点	Shenyang, China
关键词	path plan multi-vehicle multi-target pursuit
页码	855-861
中文摘要	Path planning for multi-vehicle multi-target pursuit (MVMTP) is studied in this paper. With respect to equal number of vehicles and obstacles, a global cost function (GCF) is proposed and an optimal one-vehicle-one-target-pair appointment is specified based on the GCF. The artificial potential (AP)-guided evolutionary algorithm (EA) is used by each appointed pair to search the path that will allow the vehicle to catch the target at a specified criterion while avoiding obstacles. Both the targets and obstacles are moving in the environment, and the pair appointment can be updated regularly according to the snapshot of the uncertain environment. The integration of AP into EA is intended to achieve a convergent, fast and efficient trajectory searching mechanism that can be installed in real time.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
会议录	IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-8641-8
WOS记录号	WOS:000234343000155
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8590]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zu D,Han JD,Campbell, M. Artificial potential guided evolutionary path plan for multi-vehicle multi-target pursuit[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004.