Minimum-time task assignment algorithm for multiple-vehicle systems

An algorithm to generate minimum-time paths and trajectories multiple-vehicle systems is presented. The algorithm is used to solve the problem of planning paths and trajectories of all the vehicles such that the longest traversing time among them is minimized. The generated paths and trajectories are collision-free. We utilize 3-degree Bezier curves as the basic forms of the paths. We consider linear velocity and tangential and radial accelerations to figure out the trajectories of each vehicle. A Particle Swarm Optimization (PSO) technique is utilized to figure out the Bezier path with minimum traversing time. The algorithm is utilized in a simplified scenario of task-assignment problem, that is, a goal achievement problem given the goal configurations to achieve by all vehicles. Simulation results that show the trajectories of all the vehicles that is presented.