TITLE: Method for planning the movement of an autonomous vehicle by
constraint programming One aspect of the invention relates to a method (1) for planning the movement of a vehicle in a graph (G) comprising a plurality of nodes (A1,…,A3, B1,…,B5, C1,…,C4), each node having a geographical position, one of the nodes being associated with a task (A, B, C), comprising: Construction (11) of a matrix from the graph (G), the matrix comprising, for each node, a value of a predetermined metric for each other node of the plurality of nodes (A1,…,A3, B1,…,B5, C1,…,C4), Calculation (12) of a
route by a
solver retaining in the
route nodes retained from among the plurality of nodes of the graph (A1,…,A3, B1,…,B5, C1,…,C4),the calculation being carried out from the matrix and a plurality of constraints comprising: a first constraint constraining the
solver to calculate as a
route a Hamiltonian circuit for the retained nodes taking the form of a
list of successive nodes and, for each non-retained node, to create an entry in the
list for which the successive node of the non-retained node is itself, a second constraint constraining the
solver to retain in the route only different nodes, a third constraint constraining the solver to find a route passing once through a node associated with each task (A, B, C), through the departure node (D) and through the arrival node (F), a minimization function constraining the solver to minimize the sum of the metric values ​​between the retained nodes. Planning (13) of the movement of the vehicle according to the calculated route.,