Open this publication in new window or tab >>2019 (English)In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 5, p. 78-84Conference 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 fixed and 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. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Place, publisher, year, edition, pages
ELSEVIER, 2019
Keywords
trajectory and path planning; autonomous vehicles; duality-based decomposition; motion control; safety; intelligent transportation systems
National Category
Computational Mathematics
Identifiers
urn:nbn:se:liu:diva-161215 (URN)10.1016/j.ifacol.2019.09.013 (DOI)000486629500014 ()
Conference
9th IFAC International Symposium on Advances in Automotive Control (AAC)
Note
Funding Agencies|Wallenberg AI, Autonomous Systems and Software Program (WASP) - Knut and Alice Wallenberg Foundation
2019-10-252019-10-252019-11-21