Assisted Path Planning for a UGV–UAV Team Through a Stochastic Network

Abstract

In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is a random variable because of traffic congestion. An unmanned ground vehicle (UGV) wishes to travel from a starting location to a destination while minimizing the arrival time at the destination. UGV can traverse through an impeded edge but the true travel time is only realized at the end of that edge. This implies that the UGV can potentially get stuck in an impeded edge with high travel time. A support vehicle, such as an unmanned aerial vehicle (UAV) is simultaneously deployed from its starting position to assist the UGV by inspecting and realizing the true cost of impeded edges. With the updated information from UAV, UGV can efficiently reroute its path to the destination. The UGV does not wait at any time until it reaches the destination. The UAV is permitted to terminate its path at any vertex. The goal is then to develop an online algorithm to determine efficient paths for the UGV and the UAV based on the current information so that the UGV reaches the destination in minimum time. We refer to this problem as stochastic assisted path planning (SAPP). We present dynamic k-shortest path planning (D*KSPP) algorithm for the UGV planning and rural postman problem (RPP) formulation for the UAV planning. Due to the scalability challenges of RPP, we also present a heuristic based priority assignment algorithm for the UAV planning. Computational results are presented to corroborate the effectiveness of the proposed algorithm to solve SAPP.