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Online Routing for Autonomous Vehicle Cruise Systems with Fuel Constraints

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Abstract

Autonomous ground/aerial vehicles (UGVs/UAVs) boost many potential applications over past few years, but it usually takes a long time or a large price to fully recharge or refuel a vehicle, so it is extremely important to make efficient routing decisions for autonomous vehicles with limited fuel capacity. This paper elaborates the uninterrupted cruising requirements for autonomous vehicles and the influence of limited fuel capacity on the routing policies. We provide a proof that the basic cruising problem is NP-hard in the general case, though the previous work formulated it as a polynomial problem based on some oversimplified assumptions, which result in a degraded performance under the condition of limited fuel capacity. This is formulated as a mixed-integer non-convex optimization problem, which is difficult to solve in general. Furthermore, we observed that the nature of the limited fuel capacity is a limitation on the solution space of the cruising problem, which motivated us to construct an efficient heuristic solution by applying the fuel constraints iteratively on the shortest path that can be obtained in polynomial time. Since targets are usually requested in an online way in real cruising applications, we design a sliding window-based algorithm, so that a tradeoff can be made between the routing efficiency and the computation complexity by adjusting the window size. Finally, the simulation results show that the proposed scheme reduces the computation complexity by at least 13 times, simultaneously with performance improvements by about 7% in terms of fuel consumption than the alternative algorithms.

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Funding

This work was supported by the National Natural Science Foundation of China (61273235), the Key Project of State Grid Chongqing Electric Power Company (2021YuDianKeJi23), and the National Defense Pre-Research Quick Support Foundation of China (80911010302).

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Authors and Affiliations

  1. School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Longjiang Li, Haoyang Liang, Jie Wang & Jianjun Yang

  2. Chongqing University of Posts and Telecommunications, Chongqing, 400065, China

    Yonggang Li

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  1. Longjiang Li
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  2. Haoyang Liang
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Contributions

L. Li, H. Liang, J. Yang and Y. Li conceptualized the problem and the technical framework. L. Li, J. Yang and Y. Li managed the project. H. Liang and L. Li developed and tested the algorithms. L. Li, H. Liang, J. Wang and Y. Li wrote the paper.

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Correspondence to Longjiang Li.

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The simulation code implemented in Matlab 2016b is available via https://github.com/lilj999/auavcp.

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This work was supported by the National Natural Science Foundation of China (61273235), the Key Project of State Grid Chongqing Electric Power Company (2021YuDianKeJi23), and the National Defense Pre-Research Quick Support Foundation of China (80911010302)

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Li, L., Liang, H., Wang, J. et al. Online Routing for Autonomous Vehicle Cruise Systems with Fuel Constraints. J Intell Robot Syst 104, 68 (2022). https://doi.org/10.1007/s10846-021-01530-y

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