Title :
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
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;
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
DOI :
10.1109/CISE.2009.5366885
