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COOPERATIVE PATH-PLANNING FOR AUTONOMOUS VEHICLES USING DYNAMIC PROGRAMMING
Matthew Flint, Marios Polycarpou,
Emmanuel Fernández-Gaucherand
Dept. of Electrical and Computer Eng. and Computer Science
University of Cincinnati, Cincinnati, Ohio 45221-0030, USA
flintmd@email.uc.edu, polycarpou@uc.edu,
emmanuel@ececs.uc.edu
It is shown how to model a cooperative path planning system for multiple autonomous air vehicles within the framework of a stochastic (dynamic programming) decision process. The proposed approach allows the vehicles to cooperate and find near-optimal search paths over a given environment in the presence of uncertainty and constraints on movement and computational power.
Keywords: Agent, Autonomous Vehicle, Co-operative Control, Distributed Control, Dynamic Programming, Stochastic Control
Session slot T-Th-E21: Posters of Transportation and Vehicles/Area code 8f : Intelligent Autonomous Vehicles
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