Hierarchical Search Method for a Team of Autonomous Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2004

Authors

Jorge Estrela da Silva (Author) FEUP; João Borges de Sousa (Author) FEUP; A. Sperazon (Author) Other; K. Johnansson (Author) Other

Conference proceedings International

Title: Proceedings of 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)

Pages: 567-572

5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)

Lisboa, Portugal, 5 a 7 de Julho de 2004

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

CORDIS: Technological sciences

Other information

DOI: 10.1016/S1474-6670(17)32038-4

Abstract (EN): A multi-vehicle search strategy based on the simplex algorithm is proposed. The strategy is mapped into a hierarchical scheme with three layers. The upper layer is described by a discrete-event system. The output of this layer is a set of way-points for the vehicles and it is used by the middle layer in order to coordinate the motion of the vehicles. The lower layer drives each vehicle to a way-point. The paper compares two possible discrete coordination strategies: one minimizes the total travelled distance and the other prevents trajectories to intersect. Minimization of vehicle intercommunication is also studied.

Language: Portuguese

Type (Professor's evaluation): Scientific

No. of pages: 6