FreeD∗: a mechanism for finding a short and collision free path

Aldarwbi, Mohammed; Baroudi, Uthman

doi:10.1049/iet-csr.2019.0001

Cited by 3 publications

(1 citation statement)

References 19 publications

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“…To ensure that the global minimum of potential function lies only at the goal position, an additional function is introduced in the potential field expression that depends on the distances of goal and obstacles from the agent's position [38]. The situation complicates even further in the presence of multi-agent multi-obstacle environment, and this simplistic model of the motion planning problem may not achieve the desired results [39]- [41].…”

Section: Potential Field Methodsmentioning

confidence: 99%

Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty

2020

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Motion planning of agents is one of the fundamental research problems in autonomous systems. An important aspect of motion planning is collision avoidance of the agents with other agents and obstacles that are present in the agent's environment. Typically, the collision avoidance constraints are non-linear and non-convex. Thus, the mathematical formulation of motion planning of multiple agents, in the presence of other agents and obstacles, is NP-Hard. In this paper, a novel heuristic approach for motion planning in multi-agent dynamic environment is proposed. The approach is computationally cheap, and can be launched locally on each agent for the trajectory planning. The applicability of the proposed approach is illustrated by numerical examples considering uncertainty in the environment. Detailed discussions on the performance of the proposed approach are presented. Finally, the observations on the key characteristics of the proposed approach are summarized.

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Section: Potential Field Methodsmentioning

confidence: 99%

Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty

2020

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A Novel Path Planning Approach with Bidirectional A* Algorithm Based on Road Characteristics

Chen

et al. 2021

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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MBMQA: A Multicriteria-Aware Routing Approach for the IoT 5G Network Based on D2D Communication

et al. 2021

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With the rapid development of future wireless networks, device-to-device (D2D) technology is widely used as the communication system in the Internet of Things (IoT) fifth generation (5G) network. The IoT 5G network based on D2D communication technology provides pervasive intelligent applications. However, to realize this reliable technology, several issues need to be critically addressed. Firstly, the device’s energy is constrained during its vital operations due to limited battery power; thereby, the connectivity will suffer from link failures when the device’s energy is exhausted. Similarly, the device’s mobility alters the network topology in an arbitrary manner, which affects the stability of established routes. Meanwhile, traffic congestion occurs in the network due to the backlog packet in the queue of devices. This paper presents a Mobility, Battery, and Queue length Multipath-Aware (MBMQA) routing scheme for the IoT 5G network based on D2D communication to cope with these key challenges. The back-pressure algorithm strategy is employed to divert packet flow and illuminate the device selection’s estimated value. Furthermore, a Multiple-Attributes Route Selection (MARS) metric is applied for the optimal route selection with load balancing in the D2D-based IoT 5G network. Overall, the obtained simulation results demonstrate that the proposed MBMQA routing scheme significantly improves the network performance and quality of service (QoS) as compared with the other existing routing schemes.

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FreeD∗: a mechanism for finding a short and collision free path

Cited by 3 publications

References 19 publications

Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty

Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty

A Novel Path Planning Approach with Bidirectional A* Algorithm Based on Road Characteristics

MBMQA: A Multicriteria-Aware Routing Approach for the IoT 5G Network Based on D2D Communication

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