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Technical report IES-2010-06. In: Jürgen Beyerer, Marco Huber (eds.), Proceedings of the 2010 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory, Karlsruher Schriften zur Anthropomatik, vol. 7, KIT Scientific Publishing, 2010.
Planning cooperative motions of multiple vehicles is a task of high computational complexity. However, real-time performance is required in applications such as cooperative collision avoidance for road vehicles, enforcing a trade-off between computing time and solution quality. In this report, several motion planning algorithms are compared with respect to these criteria. The considered algorithms are a tree search algorithm relying on precomputed lower bounds, the elastic band method, mixed-integer linear programming, and a priority-based approach.