Dynamic landscape maps for path planning and target assignment

摘要

In this paper, we present new concepts for path planning and cooperative target assignment for unmanned vehicles in uncertain environments. The approach is inspired by possible cognitive computing architectures used in mammalian brains for navigation tasks. A dynamic map based on sensor input and a diffusion equation is used to generate paths around obstacles to targets. Targets are assigned to each UAV based on simple priority logic or dynamic competition. Simulation results for a simple scenario with two UAVs and multiple targets are presented.