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Dynamic distributed lanes: motion planning for multiple autonomous vehicles

Kala, Rahul ; Warwick, Kevin

Applied intelligence (Dordrecht, Netherlands), 2014-07, Vol.41 (1), p.260-281 [Periódico revisado por pares]

Boston: Springer US

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Título:
Dynamic distributed lanes: motion planning for multiple autonomous vehicles
Autor: Kala, Rahul ; Warwick, Kevin
Assuntos: Algorithmics. Computability. Computer arithmetics ; Applied sciences ; Artificial Intelligence ; Autonomous ; Autonomous vehicles ; Collaboration ; Communication ; Computer Science ; Computer science; control theory; systems ; Control theory. Systems ; Cooperation ; Exact sciences and technology ; Ground, air and sea transportation, marine construction ; Information retrieval. Graph ; Lanes ; Machines ; Manufacturing ; Mechanical Engineering ; Motion planning ; Obstacles ; Planning ; Processes ; Road transportation and traffic ; Roads & highways ; Robotics ; Robots ; Searching ; Theoretical computing ; Traffic engineering ; Traffic flow ; Vehicles
É parte de: Applied intelligence (Dordrecht, Netherlands), 2014-07, Vol.41 (1), p.260-281
Notas: ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
Descrição: Unorganized traffic is a generalized form of travel wherein vehicles do not adhere to any predefined lanes and can travel in-between lanes. Such travel is visible in a number of countries e.g. India, wherein it enables a higher traffic bandwidth, more overtaking and more efficient travel. These advantages are visible when the vehicles vary considerably in size and speed, in the absence of which the predefined lanes are near-optimal. Motion planning for multiple autonomous vehicles in unorganized traffic deals with deciding on the manner in which every vehicle travels, ensuring no collision either with each other or with static obstacles. In this paper the notion of predefined lanes is generalized to model unorganized travel for the purpose of planning vehicles travel. A uniform cost search is used for finding the optimal motion strategy of a vehicle, amidst the known travel plans of the other vehicles. The aim is to maximize the separation between the vehicles and static obstacles. The search is responsible for defining an optimal lane distribution among vehicles in the planning scenario. Clothoid curves are used for maintaining a lane or changing lanes. Experiments are performed by simulation over a set of challenging scenarios with a complex grid of obstacles. Additionally behaviours of overtaking, waiting for a vehicle to cross and following another vehicle are exhibited.
Editor: Boston: Springer US
Idioma: Inglês

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Dynamic distributed lanes: motion planning for multiple autonomous vehicles

Kala, Rahul ; Warwick, Kevin

Boston: Springer US

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