liu.seSearch for publications in DiVA
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition
Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0003-1320-032X
Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.
2019 (engelsk)Inngår i: Proceedings of the 9th IFAC International Symposium on Advances in Automotive Control, Orleans, June 23-27, 2019, 2019Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
2019.
Emneord [en]
trajectory and path planning, autonomous vehicles, duality-based decomposition, motion control, safety, intelligent transportation systems
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-159767OAI: oai:DiVA.org:liu-159767DiVA, id: diva2:1344414
Konferanse
IFAC International Symposium on Advances in Automotive Control, Orleans, France, June 23-27, 2019
Tilgjengelig fra: 2019-08-20 Laget: 2019-08-20 Sist oppdatert: 2019-08-27bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Personposter BETA

Anistratov, PavelOlofsson, BjörnNielsen, Lars

Søk i DiVA

Av forfatter/redaktør
Anistratov, PavelOlofsson, BjörnNielsen, Lars
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric

urn-nbn
Totalt: 145 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf