Multi-Vehicle Trajectory Optimisation On Road Networks
This addresses trajectory optimization for cooperative vehicles in scenarios like open-pit mining, but it is incremental as it builds on existing MILP methods with computational improvements.
The paper tackled the problem of planning time-optimal trajectories for multiple cooperative vehicles on road networks, using Mixed Integer Linear Programming (MILP) to find globally optimal solutions, with results showing the MILP avoids local minima while a heuristic scales better with problem size.
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex flow-on effects for subsequent interactions. A globally optimal, minimum time trajectory is found for all vehicles using Mixed Integer Linear Programming (MILP). Computational performance is improved by minimising binary variables using iteratively applied targeted collision constraints, and efficient goal constraints. Simulation results in an open-pit mining scenario compare the proposed method against a fast heuristic method and a reactive approach based on site practices. The heuristic is found to scale better with problem size while the MILP is able to avoid local minima.