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Optimal Time-Window Based Formulation for Autonomous Vehicle Path Planning
Technical Paper
2021-26-0124
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
This paper proposes a practical optimal-time window-based path-planning approach for a fleet of autonomous vehicles. Specifically, autonomous vehicles in this work refers to fleet of tractors that performs spraying operations in a vineyard field. The approach involves two main steps. In the first step based on a behavior and actions of the tractors that mimic manual spraying operations, a linear integer programming (ILP) optimization model is constructed. The second step then seeks a solution for this MIP model to obtain paths for autonomous navigation of the tractors in a vineyard field. The simulation results on a real-world data collected using Google Maps application for Sula vineyards located in the Nashik region [1] is reported. The obtained results show effectiveness of the proposal with respect to manual operator driven fleet management.
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Patil, B., Bhansari, V., and Jadhav, V., "Optimal Time-Window Based Formulation for Autonomous Vehicle Path Planning," SAE Technical Paper 2021-26-0124, 2021, https://doi.org/10.4271/2021-26-0124.Data Sets - Support Documents
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| Unnamed Dataset 1 |
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References
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