A Long-Duration Autonomy Approach to Connected and Automated Vehicles

Autor:	Beaver, Logan E.
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks, including roundabouts, merging roadways, and intersections. We take a principled approach based on optimal control, and derive a reactive controller with guarantees on safety, performance, and energy efficiency. We guarantee safety through high order control barrier functions (HOCBFs), which we ``lift'' to first order CBFs using time-optimal motion primitives. We demonstrate the performance of our approach in simulation and compare it to an optimal control-based approach. Comment: 7 pages, 4 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2412.11804 Zobrazit plný text záznamu View this record from Arxiv