Research Article
Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination
Input: Admissible error between two consecutive values of path length function: , number of the | interval equal parts: , and coefficient of polynomials: and . | Output: Optimal path parameters of : and , path length . | (1) Set . | (2) NLPP() | (3) If NLPP is infeasible | (4) then ++++ | (5) Transfer to (2) | (6) else optimal path parameters , , and , path length | (7) end if | (8) ++++ | (9) NLPP() | (10) Assign the results of (9) to and , | (11) if abs() > | (12) then Transfer to (8) | (13) else optimal path length value | (14) return optimal path parameters , , and , path length |
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