Egalitarian versus prioritarian approach in multiple task motion planning for nonholonomic systems

In this paper, two different concepts of multiple task motion planning algorithm for nonholonomic systems are considered. The egalitarian approach treats all the tasks equivalently and tries to solve all the tasks simultaneously. In contrast, the prioritarian approach arranges the tasks with decreasing priorities in such a way that the solution of the lower order task should not influence the solution of the higher order task. This paper contains the derivation of the egalitarian motion planning algorithm and the prioritarian motion planning algorithm. Moreover, the definitions of the three types of basic subtasks are also included. The efficiency of the egalitarian and prioritarian algorithms is presented with the simulation of the nonholonomic model of the unmanned surface vessel. The simulation results provide the data to perform a comparison of the egalitarian versus the prioritarian approach.