Motion coordination of multiple autonomous vehicles in dynamic and strictly constrained environments

Liu, DK; Wu, X; Kulatunga, AK; Dissanayake, G

Motion coordination of multiple autonomous vehicles in dynamic and strictly constrained environments

Liu, DK

Wu, X Kulatunga, AK Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2006 IEEE Conference on Cybernetics and Intelligent Systems, 2006
Issue Date:: 2006-12-01

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Field	Value	Language
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Wu, X	en_US
dc.contributor.author	Kulatunga, AK	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2006-12-01	en_US
dc.identifier.citation	2006 IEEE Conference on Cybernetics and Intelligent Systems, 2006	en_US
dc.identifier.isbn	1424400236	en_US
dc.identifier.isbn	9781424400232	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2671
dc.description.abstract	With the increasing applications of fully autonomous vehicles, efficient motion coordination of multi-autonomous 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.	en_US
dc.relation.ispartof	2006 IEEE Conference on Cybernetics and Intelligent Systems	en_US
dc.relation.isbasedon	10.1109/ICCIS.2006.252342	en_US
dc.title	Motion coordination of multiple autonomous vehicles in dynamic and strictly constrained environments	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Bangkok, Thailand	en_US
dc.location.activity	Yeppoon, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

With the increasing applications of fully autonomous vehicles, efficient motion coordination of multi-autonomous 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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http://hdl.handle.net/10453/2671