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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/8ED6CA7E-E29F-49F4-9786-940F434712DC | ||
| Year | 2022 | ||
| Type of Item | Conference Full Paper | ||
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| Bibliographic Citation | I. Karafyllis, D. Theodosis and M. Papageorgiou, "Artificial traffic fluids emerging from the design of cruise controllers," in 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, doi: 10.1109/CDC51059.2022.9992605. https://doi.org/10.1109/CDC51059.2022.9992605 | ||
| Appears in Collections |
In this paper, we present two Control Lyapunov Function based families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov functions are based on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized, as each vehicle determines its control input based on its own speed and on the relative speeds and distances from adjacent vehicles and from the boundary of the road. Moreover, the corresponding macroscopic models are derived, obtaining fluid-like models that consist of a conservation equation and a momentum equation with pressure and viscous terms. Finally, we show that, by selecting appropriately the parameters of the feedback laws, we get free hand to create an artificial fluid that approximates the emerging traffic flow.
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