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Constrained Navigation with Mandatory Waypoints in Uncertain Environment

Abstract : This paper presents a hybrid solving method for vehicle path planning problems. As part of the vehicle system architecture (vetronic), planning is dynamic and has to be activated on-line, which requires response times to be compatible with mission execution. The proposed approach combines constraint solving techniques with an Ant Colony Optimization (ACO). The hybridization relies on a static probing technique which builds up a search strategy using a distance information between problem variables and a heuristic solution. Various forms of this approach are compared and evaluated on real world scenarios. Preliminary results exhibit response times close to vehicle control requirements, on realistic problem instances.
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  • HAL Id : hal-00831578, version 1

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François Lucas, Christophe Guettier, Patrick Siarry, Anne-Marie Milcent, Arnaud de la Fortelle. Constrained Navigation with Mandatory Waypoints in Uncertain Environment. International Journal of Information Sciences and Computer Engineering, Pharus, 2010, 1 (2), pp.75-85. ⟨hal-00831578⟩

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