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Distributed Simultaneous Task Allocation and Motion Coordination of Autonomous Vehicles Using a Parallel Computing Cluster

  • A. K. Kulatunga
  • B. T. Skinner
  • D. K. Liu
  • H. T. Nguyen
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 362)

Abstract

Task allocation and motion coordination are the main factors that should be considered in the coordination of multiple autonomous vehicles in material handling systems. Presently, these factors are handled in different stages, leading to a reduction in optimality and efficiency of the overall coordination. However, if these issues are solved simultaneously we can gain near optimal results. But, the simultaneous approach contains additional algorithmic complexities which increase computation time in the simulation environment. This work aims to reduce the computation time by adopting a parallel and distributed computation strategy for Simultaneous Task Allocation and Motion Coordination (STAMC). In the simulation experiments, each cluster node executes the motion coordination algorithm for each autonomous vehicle. This arrangement enables parallel computation of the expensive STAMC algorithm. Parallel and distributed computation is performed directly within the interpretive MATLAB environment. Results show the parallel and distributed approach provides sub-linear speedup compared to a single centralised computing node

Keywords

Path Planning Flexible Manufacture System Task Allocation Computing Node Autonomous Vehicle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • A. K. Kulatunga
    • 1
  • B. T. Skinner
    • 1
  • D. K. Liu
    • 1
  • H. T. Nguyen
    • 1
  1. 1.Mechatronics and Intelligent Systems Group, Faculty of EngineeringUniversity of TechnologySydney

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