Multi-Vehicle Trajectory Optimisation On Road Networks [article]

Philip Gun, Andrew Hill, Robin Vujanic
2018 arXiv   pre-print
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex flow-on effects for subsequent interactions. A globally optimal, minimum time trajectory is found for all vehicles using Mixed Integer Linear Programming (MILP). Computational performance is improved by minimising binary variables using iteratively applied
more » ... ed collision constraints, and efficient goal constraints. Simulation results in an open-pit mining scenario compare the proposed method against a fast heuristic method and a reactive approach based on site practices. The heuristic is found to scale better with problem size while the MILP is able to avoid local minima.
arXiv:1810.02517v1 fatcat:5kmozjtkmbaivib42hhl226nc4