Combined Path and Trajectory Planning for Energy-Efficient Coordination of Automated Vehicles in Confined Areas
Paper in proceeding, 2024

In this paper, we present a framework for combined path and motion trajectory planning for the purpose of coordinating fully automated vehicles in confined sites. The path planning component utilizes a Monte-Carlo tree search approach for computing the vehicle paths and the motion trajectory component utilizes a two-stage optimization-based algorithm that optimizes the state and input trajectories for all vehicles while avoiding inter-vehicle conflicts. The motion trajectories are tracked by a low-level controller and both the path and motion trajectories are recomputed based on the feedback signals. The performance of the framework is validated through numerical simulations and results show both improved energy efficiency and productivity.

Author

Stefan Kojchev

Chalmers, Electrical Engineering, Systems and control

Jonas Hellgren

RISE Research Institutes of Sweden

Robert Hult

Volvo Group

Jonas Fredriksson

Chalmers, Electrical Engineering, Systems and control

2024 European Control Conference, ECC 2024

3754-3761
9783907144107 (ISBN)

2024 European Control Conference, ECC 2024
Stockholm, Sweden,

High integrity system for ensuring safety of automated driving features

VINNOVA (2018-02708), 2018-10-01 -- 2022-03-01.

Subject Categories

Transport Systems and Logistics

Robotics

Control Engineering

Signal Processing

DOI

10.23919/ECC64448.2024.10591094

More information

Latest update

8/19/2024