At intersections and in merging traffic, intelligent road vehicles must solve challenging optimal control problems in real-time to navigate reliably around moving obstacles. We present a complete planner that computes collision-free, optimal longitudinal control sequences (acceleration and braking) using a novel visibility graph approach that analytically computes the reachable subset of path-velocity-time space. We demonstrate that our method plans over an order of magnitude faster than previous approaches, making it scalable and fast enough (tenths of a second on a PC) to be called repeatedly on-line. We demonstrate applications to autonomous driving and vehicle collision warning systems with many moving obstacles.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimal longitudinal control planning with moving obstacles


    Beteiligte:
    Johnson, Jeff (Autor:in) / Hauser, Kris (Autor:in)


    Erscheinungsdatum :

    2013-06-01


    Format / Umfang :

    2086809 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    OPTIMAL LONGITUDINAL CONTROL PLANNING WITH MOVING OBSTACLES

    Johnson, J. / Hauser, K. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2013


    Robot Motion Planning Among Moving Obstacles

    Fiorini, P. / Shiller, Z. | NTRS | 1995



    Planning Motions To Avoid Moving Obstacles

    Fiorini, Paolo / Shiller, Zvi | NTRS | 1995


    Kinodynamic motion planning amidst moving obstacles

    Kindel, R. / Hsu, D. / Latombe, J.C. et al. | Tema Archiv | 2000