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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Sense Avoidance Constraints for Conflict Resolution between Autonomous Vehicles

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Author(s):
Magalhaes Afonso, Rubens Junqueira ; Harrop Galvao, Roberto Kawakami ; Kienitz, Karl Heinz
Total Authors: 3
Document type: Journal article
Source: IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE; v. 9, n. 1, p. 110-122, SPR 2017.
Web of Science Citations: 2
Abstract

Potential conflict situations between vehicles in the presence of obstacles are addressed by a decentralized approach imposing sense constraints, i.e., requiring that the vehicles circumvent an obstacle in a predetermined sense: either clockwise or counterclockwise. Model Predictive Control is used to plan trajectories using binary decision variables. In order to do that, a novel scheme to choose the feasible regions is proposed, and then obstacle avoidance constraints are encoded using tuples of binary decision variables. Sense constraints arise naturally as an extension of the proposed encoding scheme, allowing for decentralized planning, given that the vehicles agree on the required sense of circumvention. Simulation results are used to illustrate the benefits of (AU)

FAPESP's process: 11/17610-0 - Monitoring and control of dynamic systems subject to faults
Grantee:Roberto Kawakami Harrop Galvão
Support Opportunities: Research Projects - Thematic Grants
FAPESP's process: 11/18632-8 - Fault-tolerant Predictive Control with trajectory planning in the presence of obstacles
Grantee:Rubens Junqueira Magalhães Afonso
Support Opportunities: Scholarships in Brazil - Doctorate