Systems and methods for generating safe trajectories for multi-vehicle teams
AssigneeThe Trustees of the University of Pennsylvania
InventorsR. Vijay Kumar, Sarah Yifang Tang
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Abstract
The present subject matter relates to systems and methods for generating trajectories for a plurality of vehicles in a multi-vehicle system. An optimal motion plan is determined for moving each of the plurality of vehicles between a respective starting position and an assigned goal position, possible collisions are identified among the optimal motion plans of the plurality of vehicles, and, for a subset of the plurality of vehicles identified as being associated with a possible collision, the optimal motion plan of each vehicle in the subset is modified to define modified trajectories that each include a common circular holding pattern such that the possible collision is avoided.
Claims21
A method for generating trajectories for a plurality of vehicles in a multi-vehicle system, the method comprising:
- determining optimal motion plans for moving each of the plurality of vehicles between a respective starting position and an assigned goal position;
- identifying possible collisions of the plurality of vehicles among the optimal motion plans;
- and
- for a subset of the plurality of vehicles identified as being associated with a one of the possible collisions, modifying respective ones of the optimal motion plans of each of the plurality of vehicles in the subset to define modified trajectories,
- wherein each of the modified trajectories includes a common holding pattern such that the one of the possible collisions is avoided;
- and
- wherein one or more of the steps of determining optimal motion plane, identifying possible collisions, or modifying respective ones of the optimal motion plans is performed by a processor of a computer.
A system for generating trajectories in a multi-vehicle system comprising:
- a plurality of vehicles;
- and
- a controller configured for determining optimal motion plans for moving each of the plurality of vehicles between a respective starting position and an assigned goal position, identifying possible collisions of the plurality of vehicles among the optimal motion plans, and, for a subset of the plurality of vehicles identified as being associated with a one of the possible collisions, modifying respective ones of the optimal motion plans of each of the plurality of vehicles in the subset to define modified trajectories;
- wherein each of the modified trajectories includes a common circular holding pattern such that the one of the possible collisions is avoided.
A non-transitory computer readable medium having stored thereon executable instructions that when executed by the processor of a computer control the computer to perform steps comprising:
- determining optimal motion plans for moving each of a plurality of vehicles in a multi-vehicle system between a respective starting position and an assigned goal position;
- identifying possible collisions of the plurality of vehicles among the optimal motion plans;
- and
- for a subset of the plurality of vehicles identified as being associated with a one of the possible collisions, modifying respective ones of the optimal motion plans of each of the plurality of vehicles in the subset to define modified trajectories;
- wherein each of the modified trajectories includes a common circular holding pattern such that the one of the possible collisions is avoided.
Dependencies are inferred from the claim text.