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Sampled-data controllers for autonomous vehicles on lane-free roads

Theodosis Dionysios, Tzortzoglou Filippos, Karafyllis Iason, Papamichail Ioannis, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/EBF1602C-A321-4CD2-818E-36537D977B40-
Identifierhttps://doi.org/10.1109/MED54222.2022.9837160-
Identifierhttps://ieeexplore.ieee.org/document/9837160-
Languageen-
Extent6 pagesen
TitleSampled-data controllers for autonomous vehicles on lane-free roadsen
CreatorTheodosis Dionysiosen
CreatorΘεοδοσης-Παλημερης Διονυσιοςel
CreatorTzortzoglou Filipposen
CreatorΤζωρτζογλου Φιλιπποςel
CreatorKarafyllis Iasonen
CreatorΚαραφυλλης Ιασωνel
CreatorPapamichail Ioannisen
CreatorΠαπαμιχαηλ Ιωαννηςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherInstitute of Electrical and Electronics Engineersen
Content SummaryIn this paper, we design decentralized control strategies (per vehicle) for the two-dimensional movement of autonomous vehicles on lane-free roads, where each vehicle determines its control input based on its own state and the relative speeds and distances from adjacent vehicles and from the boundaries of the road. It is shown that the vehicles do not collide with each other or with the road boundaries, and all vehicle speeds converge to a given longitudinal speed set-point. Moreover, we present sufficient conditions for the emulated (sampled-data) controllers that ensure collision avoidance between vehicles and with the road boundaries, as well as speed positivity, bounded speed and bounded orientation of the vehicles. Finally, we numerically investigate the maximum allowable sampling period and present periodic and non-periodic sampling algorithms where each vehicle has its own sampling period.en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2022-12-30-
Date of Publication2022-
SubjectLane-free trafficen
SubjectSampled-data controllersen
SubjectAutonomous vehiclesen
Bibliographic CitationD. Theodosis, F. N. Tzortzoglou, I. Karafyllis, I. Papamichail and M. Papageorgiou, "Sampled-data controllers for autonomous vehicles on lane-free roads," in 2022 30th Mediterranean Conf. on Control and Automation (MED), 2022, pp. 103-108, doi: 10.1109/MED54222.2022.9837160.en

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