Real-Time Distributed Automation Of Road Intersections
| Autor: | Fabio Molinari, Jörg Raisch, Alexander Katriniok |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology Computer science business.industry 020208 electrical & electronic engineering Real-time computing Control (management) 02 engineering and technology Systems and Control (eess.SY) Auction algorithm Electrical Engineering and Systems Science - Systems and Control Automation Model predictive control 020901 industrial engineering & automation Control and Systems Engineering Information and Communications Technology Order (exchange) 0202 electrical engineering electronic engineering information engineering FOS: Electrical engineering electronic engineering information engineering State (computer science) business computer computer.programming_language |
| DOI: | 10.48550/arxiv.2101.02925 |
| Popis: | The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles distributively negotiate crossing priorities by running a Consensus-Based Auction Algorithm (CBAA-M). Then, each agent solves a nonlinear Model Predictive Control (MPC) problem that computes the optimal trajectory avoiding collisions with higher priority vehicles and deciding the crossing order. The scheme is shown to be real-time capable and able to respond to sudden priority changes, e.g. if a vehicle gets an emergency call. Simulations reinforce theoretical results. |
| Databáze: | OpenAIRE |
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