Experimental Validation of Distributed Optimal Vehicle Coordination
Paper i proceeding, 2018

In this paper we solve the problem of coordinating autonomous vehicles approaching an intersection in experi- ments. We cast the problem in the distributed optimisation framework and use the algorithm proposed in [10], [14] to solve it in real time. We compare two variants of the algorithm in simulations and test our algorithm in experiments using real cars on a test track. The experimental results demonstrate the applicability and real-time feasibility of the algorithm and show that the underlying assumptions are justified.

Författare

Mario Zanon

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Robert Hult

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Sébastien Gros

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

17th European Control Conference, ECC2018
Limassol, ,

Styrkeområden

Transport

Ämneskategorier

Kommunikationssystem

Farkostteknik

Reglerteknik

Infrastruktur

ReVeRe (Research Vehicle Resource)

Mer information

Skapat

2018-03-27