Path Planning for Autonomous Multi-Vehicle Team in Dynamic Environment
Mudassir Jan · The UNSW Canberra at ADFA Journal of Undergraduate Engineering Research · 2018
This thesis paper aims at investigating the dynamic path planning of an autonomous multi-vehicle team to execute a task of traversing a certain terrain with specified start and goal state. The area under consideration also includes a specified number of checkpoints to be visited by at-least one vehicle of the team while avoiding the static and dynamic obstacles. The decision about the traversal to the checkpoints is made by the vehicles themselves. Path-Planning of single vehicle is a well-researched topic; the aim during this work is to extend the concept to multi-vehicle path planning in order to reduce the workload of individual vehicles. The aim is also to reduce the computational time and total distance travelled by all the vehicles. MATLAB was used to program these problems and results have been presented in a graphical manner. These simulations and graphical representation are depicting the real life path planning and obstacle avoidance.