autonomous mobile agents, heterogeneous constraints
Most autonomous mobile agents operate in a highly constrained environment. Despite significant research, existing solutions are limited in their ability to handle heterogeneous constraints within highly dynamic or uncertain environments. This paper presents a novel maneuver selection technique suited for both 2D and 3D environments with highly dynamic maneuvering constraints and multiple mobile obstacles. Agents may have any arbitrary set of nonholonomic control variables; maneuvers can be constrained by a broad class of function inequalities, including time-dependent constraints involving nonlinear relationships between controlled and agent-state variables. The resulting algorithm has been implemented to run in real time using only a fraction of the CPU’s capacity on an ordinary notebook computer and performs well in a number of taxing simulated situations.
Original Publication Citation
Luther A. Tychonievich, Robert P. Burton, and Louis P. Tychonievich, "Reactive Navigation," IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2966-2972, October 11-15, 29.
BYU ScholarsArchive Citation
Burton, Robert P.; Tychonievich, Luther A.; and Tychonievich, Louis P., "Versatile Reactive Navigation" (2009). All Faculty Publications. 122.
Physical and Mathematical Sciences
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