Constrained Navigation with Mandatory Waypoints in Uncertain EnvironmentReport as inadecuate

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1 SAGEM Défense Sécurité Massy 2 LISSI - Laboratoire Images, Signaux et Systèmes Intelligents 3 CAOR - Centre de Robotique 4 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée Inria Paris-Rocquencourt

Abstract : This paper presents a hybrid solving method for vehicle path planning problems. As part of the vehicle system architecture vetronic, planning is dynamic and has to be activated on-line, which requires response times to be compatible with mission execution. The proposed approach combines constraint solving techniques with an Ant Colony Optimization ACO. The hybridization relies on a static probing technique which builds up a search strategy using a distance information between problem variables and a heuristic solution. Various forms of this approach are compared and evaluated on real world scenarios. Preliminary results exhibit response times close to vehicle control requirements, on realistic problem instances.

Keywords : Path planning ant colony optimization probing TSP constraint programming search

Author: François Lucas - Christophe Guettier - Patrick Siarry - Anne-Marie Milcent - Arnaud De La Fortelle -



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