Cooperative 3D Path Optimization (C3PO) Simulation

Abstract

Given a problem to get a group of unmanned vehicles from a starting location to a goal in 3 dimensions, we were able to do so without a home base for communication. Starting out with full map knowledge, the group would elect a leader, plan a path using Rapidly-Exploring Random Trees (RRTs), and move to the goal using Artificial Potential Field. The simulation was created in the MASON multi-agent simulation framework, and we were able to show that RRTs are a viable solution for path planning in 3 dimensions. We were also able to show how certain input parameters affect the ability to plan paths quickly.

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Document Details

Document Type
Technical Report
Publication Date
Nov 10, 2015
Accession Number
ADA627595

Entities

People

  • Blake Wall
  • Michael Lind

Organizations

  • Naval Information Warfare Systems Command

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Complex Systems
  • Experimental Design
  • Information Operations
  • Motion Planning
  • Naval Warfare
  • Operations Research
  • Optimization
  • Simulations
  • Unmanned
  • Unmanned Vehicles
  • Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Graph Algorithms and Convex Optimization.
  • Military Leadership and Professional Education.

Technology Areas

  • Autonomy