Collision Free Route Planning for Plural Mobiles Considering its Geometrical Sizes

Abstract

Decentralized routing method of plural mobiles was developed where geometrical sizes of mobiles are considered in the determination of their moving routes. Centrally to the conventional routing method, length of each is treated as real number to cope with the velocity change of mobiles at curvilinear running lanes. The shortest routes are derived by using the Dijkstra method. The applicability of the proposed method was checked through numerical test assuming small size air port with 5 gates.