An MIQP-based heuristic for Optimal Coordination of Vehicles at Intersections
Paper in proceedings, 2018

The problem of coordinating automated vehicles at intersections can be formulated as an optimal control prob- lem which is inherently difficult to solve, due to its combinato- rial nature. In this paper, we propose a two-stage approximation algorithm based on a previously presented decomposition. The procedure (a) first solves a Mixed Integer Quadratic Program (MIQP) to compute an approximate solution to the combinatorial part of the problem, i.e. the order in which the vehicles cross the intersection; then (b), solves a Nonlinear Program (NLP) for the optimal state and control trajectories. We demonstrate the performance of the algorithm through extensive simulation, and show that it greatly outperforms the natural First-Come-First-Served heuristic.

Author

Robert Hult

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Mario Zanon

IMT School for Advanced Studies Lucca

Sébastien Gros

Chalmers, Electrical Engineering, Systems and control, Automatic Control

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Proceedings of the IEEE Conference on Decision and Control

01912216 (ISSN)

Vol. December 2018 2783-2790 8618945

57th IEEE Conference on Decision and Control
Miami, USA,

Distribuerad koordinering av mobila nätverks system i okända miljöer

Swedish Research Council (VR), 2013-01-01 -- 2016-01-01.

Areas of Advance

Transport

Subject Categories

Computational Mathematics

Robotics

Control Engineering

DOI

10.1109/CDC.2018.8618945

More information

Latest update

3/29/2019