DocumentCode :
2385348
Title :
Partial order techniques for vehicle collision avoidance: Application to an autonomous roundabout test-bed
Author :
Desaraju, V. ; Ro, H.C. ; Yang, M. ; Tay, E. ; Roth, S. ; Del Vecchio, D.
Author_Institution :
Aeronaut. Dept., MIT, Cambridge, MA, USA
fYear :
2009
fDate :
12-17 May 2009
Firstpage :
82
Lastpage :
87
Abstract :
In this paper, we employ partial order techniques to develop linear complexity algorithms for guaranteed collision avoidance between vehicles at highway and roundabout mergings. These techniques can be employed by virtue of the rich structure offered by such traffic systems, which constrain vehicles to advance unidirectionally along a path. The algorithms are safe by construction while maintaining the liveness of the system. The proposed algorithms are on-line implemented in a decentralized fashion on an experimental testbed composed of two in-scale communicating vehicles continuously running on an autonomous roundabout system.
Keywords :
automated highways; collision avoidance; computational complexity; road safety; road vehicles; autonomous roundabout test-bed; highway vehicle; in-vehicle cooperative active safety; intelligent transportation system; linear complexity algorithm; partial order technique; vehicle collision avoidance; Automatic control; Collision avoidance; Force control; Intelligent transportation systems; Mobile robots; Remotely operated vehicles; Road transportation; Road vehicles; Testing; Vehicle safety;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
ISSN :
1050-4729
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2009.5152656
Filename :
5152656
Link To Document :
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