The Task Assignment Solution for Multi-Target Pursuit Problem

Author

Yang, Liying ; Wu, Chengdong ; Han, Jianda ; Nie, Yiyong

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci. (CAS), Shenyang, China

fYear

2009

fDate

11-13 Dec. 2009

Firstpage

1

Lastpage

6

Abstract

In this paper task assignment and path planning for multi-target pursuit (MTP) problem are studied. The mixed integer linear programming (MILP) of minimax assignment is formed, and a solution called operations on matrix is presented. The single linear programming obstacle-avoided and the "expansible target size" target pursuit method modeled by linear programming (LP) is proposed to solve the path planning problem. Finally, simulation is given to show the efficiency of the method.

Keywords

integer programming; linear programming; matrix algebra; vehicles; expansible target size target pursuit method; minimax assignment; mixed integer linear programming; multitarget pursuit problem; operations on matrix; task assignment solution; Laboratories; Linear programming; Minimax techniques; Mobile robots; Optimization methods; Path planning; Remotely operated vehicles; Robotics and automation; Trajectory; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Software Engineering, 2009. CiSE 2009. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-4507-3

Electronic_ISBN

978-1-4244-4507-3

Type

conf

DOI

10.1109/CISE.2009.5366885

Filename

5366885