A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm. Issue 11 (2nd November 2017)

• Record Type: Journal Article
• Authors: Zeng, Wenhui; Yi, Jin; Rao, Xiao; Zheng, Yun
• Is Part Of: Engineering optimization. Volume 49:Issue 11(2017)
• Page Start: 1995
• Page End: 2012
• Publication Date: 2017-11-02
• Subjects: Multiple car-like robots -- path planning -- PH curves -- harmony search algorithm -- variable motion; Engineering design -- Periodicals; Mathematical optimization -- Periodicals; 620.0042
• DOI: 10.1080/0305215X.2017.1281610
• Languages: English
• ISSNs: 0305-215X

Abstract

ABSTRACT: In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task's completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach.