Optimal path planning for connected and automated vehicles in lane-free trafficOptimal path planning for connected and automated vehicles in lane-free traffic Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2022-07-012021enThis paper develops a path planning algorithm for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, according to a recently proposed novel paradigm for vehicular traffic in the era of CAVs. The approach considers a simple model of vehicle kinematics, along with appropriate constraints for control variables and road boundaries. Appropriate, partly competitive sub-objectives are designed to enable efficient vehicle advancement, while avoiding collisions with other vehicles and infeasible vehicle maneuvers. Based on these elements, a nonlinear Optimal Control Problem (OCP) is formulated for each ego vehicle, and a Feasible Direction Algorithm (FDA) is employed for its computationally efficient numerical solution. The OCP is solved repeatedly for short time horizons within a Model Predictive Control (MPC) framework, while the vehicle advances. It is demonstrated via traffic simulation, involving many such vehicles, on a lane-free ring-road that the proposed approach delivers promising results and can be considered as a candidate for use in further developments related to lane-free CAV traffic.The research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.http://creativecommons.org/licenses/by-nc-nd/4.0/3545-355224th IEEE International Conference on Intelligent Transportation SystemsProc. of 24th IEEE International Conference on Intelligent Transportation SystemsYanumula et al. 2021_manuscript.pdfChania [Greece]Library of TUC2022-06-27application/pdf721.1 kBfree Yanumula Venkata-Karteek Yanumula Karteek Typaldos Panagiotis Τυπαλδος Παναγιωτης Troullinos Dimitrios Τρουλλινος Δημητριος Malekzadehkebria Milad Malekzadehkebria Milad Papamichail Ioannis Ioannis Papageorgiou Markos Παπαγεωργιου Μαρκος Institute of Electrical and Electronics Engineers Model predictive control Path planning Optimal control Automated vehicles Lane-free traffic