Constrained Navigation with Mandatory Waypoints in Uncertain Environment

Abstract

Also available online at http://www.ijisce.org/admin/upload/946980IJISCE-Constrained%20Navigation%20with%20Mandatory%20Waypoints%20in%20Uncertain%20Environment.pdfInternational audienceThis paper presents a hybrid solving method for vehicle path planning problems. As part of the vehicle system architecture (vetronic), planning is dynamic and has to be activated on-line, which requires response times to be compatible with mission execution. The proposed approach combines constraint solving techniques with an Ant Colony Optimization (ACO). The hybridization relies on a static probing technique which builds up a search strategy using a distance information between problem variables and a heuristic solution. Various forms of this approach are compared and evaluated on real world scenarios. Preliminary results exhibit response times close to vehicle control requirements, on realistic problem instances