Motion coordination of multiple autonomous vehicles in dynamic and strictly constrained environments
- Publication Type:
- Conference Proceeding
- 2006 IEEE Conference on Cybernetics and Intelligent Systems, CIS 2006, 2006
- Issue Date:
With the increasing applications of fully autonomous vehicles, efficient motion coordination of multiautonomous vehicles becomes a very important problem as it significantly affects the productivity. This problem is even harder to solve with the increases of the number of autonomous vehicles employed in a dynamic changing environment and constraints to vehicle movement. This paper presents a simultaneous path and motion planning (SiPaMoP) approach to coordinate motions of multi-autonomous vehicles in dynamic and strictly constrained environments. This approach integrates the path planning, collision avoidance and motion planning into a comprehensive model, which has so far not attracted a lot of attention in the academic literature, and optimizes vehicles' path and speed to minimize the completion time of a set of tasks. Simulation results demonstrated that this approach can effectively coordinate the motion of a team of vehicles, and solve the problems of traffic congestion and collision under various traffic conditions. © 2006 IEEE.
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