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Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-4527-7586
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-8631-7863
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-9652-7864
2017 (engelsk)Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 3522-3529Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an application-independent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2017. s. 3522-3529
Serie
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-63515DOI: 10.1109/IROS.2017.8206195ISI: 000426978203076Scopus ID: 2-s2.0-85041951034ISBN: 978-1-5386-2682-5 (digital)ISBN: 978-1-5386-2683-2 (tryckt)OAI: oai:DiVA.org:oru-63515DiVA, id: diva2:1168586
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2017), Vancouver, BC, Canada, September 24-28, 2017
Prosjekter
Semantic Robots
Forskningsfinansiär
Knowledge Foundation, 20140033
Merknad

Funding Agency:

Atlas Copco Rock Drills AB

Tilgjengelig fra: 2017-12-21 Laget: 2017-12-21 Sist oppdatert: 2018-06-11bibliografisk kontrollert

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Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles(1718 kB)283 nedlastinger
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Mansouri, MasoumehLagriffoul, FabienPecora, Federico

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