Fine motion planning in self overlapping driving channels andmultiple mobile vehicle coordination

摘要

After a short overview of a monitoring and navigation system formobile vehicles (called MONAMOVE) consisting of multiple carriers ofdifferent size and an environment monitoring system, the navigationprinciple using one global navigator for gross motion planning andseveral local ones for fine motion planning is described. Thecoordination of multiple vehicles with their individual trajectoriescomputed by the local navigators is managed by the global navigatorusing automatically computed crossings lying on a regular grid. Thisfine motion planning approach fulfills constraints like rightorientation and continuous curvature along the paths; it bases on thecomputation of right oriented points which lie inside a driving channel(DC). These points are connected to the best right oriented linesequence without being a stupid following of the right border of the DC.Various extensions of this work are proposed