Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections

Joint Authors

Guney, Mehmet Ali
Raptis, Ioannis A.

Source

Journal of Robotics

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-22, 22 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-03-31

Country of Publication

Egypt

No. of Pages

22

Main Subjects

Mechanical Engineering

Abstract EN

This paper considers the motion coordination problem of autonomous vehicles in an intersection of a traffic network.

The featured challenge is the design of an intersection traffic manager, in the form of a supervisory control algorithm, that regulates the motion of the autonomous vehicles in the intersection.

We cast the multivehicle coordination task as an optimization problem, with a one-dimensional search-space.

A model- and optimization-based heuristic method is employed to compute the control policy that results in the collision-free motion of the vehicles at the intersection and, at the same time, minimizes their delay.

Our approach depends on a computation framework that makes the need for complex analytical derivations obsolete.

A complete account of the computational complexity of the algorithm, parameterized by the configuration parameters of the problem, is provided.

Extensive numerical simulations validate the applicability and performance of the proposed autonomous intersection traffic manager.

American Psychological Association (APA)

Guney, Mehmet Ali& Raptis, Ioannis A.. 2020. Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections. Journal of Robotics،Vol. 2020, no. 2020, pp.1-22.
https://search.emarefa.net/detail/BIM-1190232

Modern Language Association (MLA)

Guney, Mehmet Ali& Raptis, Ioannis A.. Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections. Journal of Robotics No. 2020 (2020), pp.1-22.
https://search.emarefa.net/detail/BIM-1190232

American Medical Association (AMA)

Guney, Mehmet Ali& Raptis, Ioannis A.. Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-22.
https://search.emarefa.net/detail/BIM-1190232

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1190232