Institutional Repository
Technical University of Crete
Technical University of Crete
EN
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EL
| URI | http://purl.tuc.gr/dl/dias/CDD5A9CB-6AB2-435E-B829-CC9A58800DE9 | - |
| Identifier | https://doi.org/10.1177/0361198118780710 | - |
| Identifier | https://journals.sagepub.com/doi/abs/10.1177/0361198118780710 | - |
| Language | en | - |
| Extent | 12 pages | en |
| Title | Motorway path planning for automated road vehicles based on optimal control methods | en |
| Creator | Makantasis Konstantinos | en |
| Creator | Μακαντασης Κωνσταντινος | el |
| Creator | Papageorgiou Markos | en |
| Creator | Παπαγεωργιου Μαρκος | el |
| Publisher | SAGE Publications | en |
| Content Summary | A path-planning algorithm for automated road vehicles on multi-lane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized contains appropriate respective terms to reflect: the goals of the vehicle advancement; passenger comfort; prevailing traffic rules (e.g., overtaking only from left); and the avoidance of obstacles (other moving vehicles) and of the vehicle departing from the road. Each term is coupled with a weighting factor that reflects its comparative importance. For the numerical solution of the optimal control problem, a very efficient feasible direction algorithm is used. To avoid local minima, a simplified dynamic programming algorithm is also conceived to deliver the initial guess trajectory for the optimal control algorithm. With low computation times, the approach is readily executable within a model-predictive control frame. The performance of the proposed algorithm is illustrated using two typical driving scenarios. | en |
| Type of Item | Peer-Reviewed Journal Publication | en |
| Type of Item | Δημοσίευση σε Περιοδικό με Κριτές | el |
| License | http://creativecommons.org/licenses/by/4.0/ | en |
| Date of Item | 2019-09-02 | - |
| Date of Publication | 2018 | - |
| Subject | Dynamic programming | en |
| Subject | Highway planning | en |
| Subject | Model predictive control | en |
| Subject | Motion planning | en |
| Subject | Optimal control systems | en |
| Subject | Roads and streets | en |
| Subject | Vehicles | en |
| Bibliographic Citation | K. Makantasis and M. Papageorgiou, "Motorway path planning for automated road vehicles based on optimal control methods," Transportation Res. Rec., vol. 2672, no. 19, pp. 112-123, July 2018. doi: 10.1177/0361198118780710 | en |
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