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Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-1320-032X
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2019 (English)In: Proceedings of the 9th IFAC International Symposium on Advances in Automotive Control, Orleans, June 23-27, 2019, 2019Conference paper, Published paper (Refereed)
Abstract [en]

A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixedand the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel computation. The method is formalized as a computational algorithm and evaluated in a safety critical double lane-change situation. The resulting maneuver has close-to-optimal behavior and, for certain initialization strategies, it is obtained in shorter computational time compared to computing the full maneuver in one step.

Place, publisher, year, edition, pages
2019.
Keywords [en]
trajectory and path planning, autonomous vehicles, duality-based decomposition, motion control, safety, intelligent transportation systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-159767OAI: oai:DiVA.org:liu-159767DiVA, id: diva2:1344414
Conference
IFAC International Symposium on Advances in Automotive Control, Orleans, France, June 23-27, 2019
Available from: 2019-08-20 Created: 2019-08-20 Last updated: 2019-08-27Bibliographically approved

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Anistratov, PavelOlofsson, BjörnNielsen, Lars

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