Το έργο με τίτλο Motorway path planning for automated road vehicles based on optimal control methods από τον/τους δημιουργό/ούς Makantasis Konstantinos, Papageorgiou Markos διατίθεται με την άδεια Creative Commons Αναφορά Δημιουργού 4.0 Διεθνές
Βιβλιογραφική Αναφορά
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
https://doi.org/10.1177/0361198118780710
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.