An MIQP-based heuristic for Optimal Coordination of Vehicles at Intersections
Paper i proceeding, 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.

Författare

Robert Hult

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Mario Zanon

IMT Alti Studi Lucca

Sébastien Gros

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

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

Vetenskapsrådet (VR), 2013-01-01 -- 2016-01-01.

Styrkeområden

Transport

Ämneskategorier

Beräkningsmatematik

Robotteknik och automation

Reglerteknik

DOI

10.1109/CDC.2018.8618945

Mer information

Senast uppdaterat

2019-03-29