Group-based particle swarm optimization for multiple-vehicles trajectory planning

This paper discusses a class of group-based particle swarm optimization (GBPSO) used for figuring out admissible velocities on the three-degree Bezier-based path. Constraints of maximum allowable radial and tangential accelerations and tangential velocities are considered. The proposed method is designed for performing minimum-time collision-free trajectories in a multiple-vehicle system. The problem of minimizing the reaching time of the slowest vehicle is addressed. Additionally, the problem of generating the velocities of individual paths based on parameter and time (i.e., radial and tangential velocities) is presented as well. A particle group represents a set of particles containing the path´s two control points of each vehicle. The searching process executed by the GBPSO can be described as searching the suitable control points that perform minimum time trajectories. The first and last two control points are used as the state vector of a single particle. The proposed method has advantages in shortening velocity profile generation time and thus enhances the searching time. The results of a simulation demonstrating the performance of the proposed GBPSO also are presented.