Ιδρυματικό Αποθετήριο
Πολυτεχνείο Κρήτης
Πολυτεχνείο Κρήτης
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| URI | http://purl.tuc.gr/dl/dias/FA2EEABD-95A7-4044-8B1F-17938961530A | - |
| Αναγνωριστικό | https://doi.org/10.1109/CDC45484.2021.9682975 | - |
| Αναγνωριστικό | https://ieeexplore.ieee.org/document/9682975 | - |
| Γλώσσα | en | - |
| Μέγεθος | 7 pages | en |
| Τίτλος | Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads | en |
| Δημιουργός | Karafyllis, Iasson | en |
| Δημιουργός | Theodosis Dionysios | en |
| Δημιουργός | Θεοδοσης-Παλημερης Διονυσιος | el |
| Δημιουργός | Papageorgiou Markos | en |
| Δημιουργός | Παπαγεωργιου Μαρκος | el |
| Εκδότης | Institute of Electrical and Electronics Engineers | en |
| Περιγραφή | 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 |
| Περίληψη | In this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its control input based only on its own speed and on the distance from other (adjacent) vehicles and the boundary of the road. Potential functions and Barbălat’s lemma are employed to prove the following properties, which are ensured by the proposed controller: (i) the vehicles do not collide with each other or with the boundary of the road; (ii) the speeds of all vehicles are always positive, i.e., no vehicle moves backwards at any time; (iii) the speed of all vehicles remain below a given speed limit; (iv) all vehicle speeds converge to a given longitudinal speed set-point; and (v) the accelerations, lateral speeds, and orientations of all vehicles tend to zero. The efficiency of the proposed 2-D cruise controllers is illustrated by means of numerical examples. | en |
| Τύπος | Πλήρης Δημοσίευση σε Συνέδριο | el |
| Τύπος | Conference Full Paper | en |
| Άδεια Χρήσης | http://creativecommons.org/licenses/by-nc-nd/4.0/ | en |
| Ημερομηνία | 2022-06-30 | - |
| Ημερομηνία Δημοσίευσης | 2021 | - |
| Θεματική Κατηγορία | Two-dimensional cruise control | en |
| Θεματική Κατηγορία | Lane-free traffic | en |
| Θεματική Κατηγορία | Autonomous vehicles | en |
| Βιβλιογραφική Αναφορά | I. Karafyllis, D. Theodosis and M. Papageorgiou, "Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads," in 60th IEEE Conference on Decision and Control (CDC 2021), 2021, pp. 2683-2689, doi: 10.1109/CDC45484.2021.9682975. | en |
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