Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • Orebro University, Orebro, Sweden

Abstract

We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an application-independent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.

Details

Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publication statusPublished - 24 Sep 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Vancouver, BC
Duration: 24 Sep 201728 Sep 2017

Publication series

NameIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE Computer Society Press
ISSN (Electronic)2153-0866

Conference

Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Period24/09/1728/09/17