In a variety of tasks performed in construction sites, coordinated operations of multi-vehicles are foreshadowed to outperform the deployment of a single vehicle in terms of increased capacity and flexibility. This paper presents the application of the particle swarm optimization (PSO) algorithm in deriving drive commands, speed and turning, for the vehicles such that they are steered into and maintained in desirable formations according to an assigned task. The PSO is adopted for its implementation simplicity and relaxing the need for analytical system models. To this end, the coordination of vehicles is posed as an optimization problem minimizing the translational and angular errors between the current vehicle positions and their corresponding targets. Inter-vehicle collisions are mitigated, in this work, by employing a behavioural-based reactive scheme together with a dynamical index rescheduling procedure. Simulation results for coordinated multi-vehicle motions, in benchmark formation patterns, are included to demonstrate the effectiveness of the proposed approach.
In REF , Kwok et al. used PSO to determine drive commands, speed and turning, to coordinate the motion of construction vehicles for task assignment by minimizing the distance and difference in orientation between the current positions of the vehicles and the positions of the targets.
Motion Coordination for Construction Vehicles using Swarm Intelligence
International Journal of Advanced Robotic Systems
Computer Science