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Technical University of Crete
Technical University of Crete
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| URI | http://purl.tuc.gr/dl/dias/C5AF11CF-FDEB-4190-A032-BA6A45CB614B | - |
| Identifier | https://doi.org/10.1109/ITSC48978.2021.9564698 | - |
| Identifier | https://ieeexplore.ieee.org/abstract/document/9564698 | - |
| Language | en | - |
| Extent | 8 pages | en |
| Title | Optimal path planning for connected and automated vehicles in lane-free traffic | en |
| Creator | Yanumula Venkata-Karteek | en |
| Creator | Yanumula Karteek | el |
| Creator | Typaldos Panagiotis | en |
| Creator | Τυπαλδος Παναγιωτης | el |
| Creator | Troullinos Dimitrios | en |
| Creator | Τρουλλινος Δημητριος | el |
| Creator | Malekzadehkebria Milad | en |
| Creator | Malekzadehkebria Milad | el |
| Creator | Papamichail Ioannis | en |
| Creator | Ioannis | el |
| Creator | Papageorgiou Markos | en |
| Creator | Παπαγεωργιου Μαρκος | el |
| Publisher | Institute of Electrical and Electronics Engineers | en |
| Description | The research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid. | en |
| Content Summary | This paper develops a path planning algorithm for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, according to a recently proposed novel paradigm for vehicular traffic in the era of CAVs. The approach considers a simple model of vehicle kinematics, along with appropriate constraints for control variables and road boundaries. Appropriate, partly competitive sub-objectives are designed to enable efficient vehicle advancement, while avoiding collisions with other vehicles and infeasible vehicle maneuvers. Based on these elements, a nonlinear Optimal Control Problem (OCP) is formulated for each ego vehicle, and a Feasible Direction Algorithm (FDA) is employed for its computationally efficient numerical solution. The OCP is solved repeatedly for short time horizons within a Model Predictive Control (MPC) framework, while the vehicle advances. It is demonstrated via traffic simulation, involving many such vehicles, on a lane-free ring-road that the proposed approach delivers promising results and can be considered as a candidate for use in further developments related to lane-free CAV traffic. | en |
| Type of Item | Πλήρης Δημοσίευση σε Συνέδριο | el |
| Type of Item | Conference Full Paper | en |
| License | http://creativecommons.org/licenses/by-nc-nd/4.0/ | en |
| Date of Item | 2022-07-01 | - |
| Date of Publication | 2021 | - |
| Subject | Model predictive control | en |
| Subject | Path planning | en |
| Subject | Optimal control | en |
| Subject | Automated vehicles | en |
| Subject | Lane-free traffic | en |
| Bibliographic Citation | V. K. Yanumula, P. Typaldos, D. Troullinos, M. Malekzadeh, I. Papamichail and M. Papageorgiou, "Optimal path planning for connected and automated vehicles in lane-free traffic," in 24th IEEE International Intelligent Transportation Systems Conference (ITSC 2021), 2021, pp. 3545-3552, doi: 10.1109/ITSC48978.2021.9564698. | en |
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