Combined Path and Trajectory Planning for Energy-Efficient Coordination of Automated Vehicles in Confined Areas
Paper i 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.

Författare

Stefan Kojchev

Chalmers, Elektroteknik, System- och reglerteknik

Jonas Hellgren

RISE Research Institutes of Sweden

Robert Hult

Volvo Group

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik

2024 European Control Conference, ECC 2024

3754-3761
9783907144107 (ISBN)

2024 European Control Conference, ECC 2024
Stockholm, Sweden,

Högintegritetssystem för att säkra säkerheten för automatiserade körsystem

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

Ämneskategorier

Transportteknik och logistik

Robotteknik och automation

Reglerteknik

Signalbehandling

DOI

10.23919/ECC64448.2024.10591094

Mer information

Senast uppdaterat

2024-08-19