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Cruise controllers for vehicles on lane-free ring-roads

Theodosis Dionysios, Karafyllis Iason, Papageorgiou Markos

Πλήρης Εγγραφή


URI: http://purl.tuc.gr/dl/dias/C45AE847-F8BC-4607-8E67-ECB29FA2F578
Έτος 2023
Τύπος Πλήρης Δημοσίευση σε Συνέδριο
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Λεπτομέρειες
Βιβλιογραφική Αναφορά D. Theodosis, I. Karafyllis and M. Papageorgiou, "Cruise controllers for vehicles on lane-free ring-roads," in 2023 American Control Conference (ACC), San Diego, CA, USA, 2023, doi: 10.23919/ACC55779.2023.10156089. https://doi.org/10.23919/ACC55779.2023.10156089
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Περίληψη

The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed 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 (per vehicle), as each vehicle determines its control input based on: (i) its own state; (ii) either only the distance from adjacent vehicles (inviscid cruise controllers) or the state of adjacent vehicles (viscous cruise controllers); and (iii) its distance from the boundaries of the ring-road.

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