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Paper WeA06.4

Au, Tsz-Chiu (The University of Texas at Austin), Quinlan, Michael (University of Texas at Austin), Stone, Peter (University of Texas at Austin)

Setpoint Scheduling for Autonomous Vehicle Controllers

Scheduled for presentation during the Regular Session "Trajectory Planning and Generation" (WeA06), Wednesday, May 16, 2012, 09:15−09:30, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 12, 2017

Keywords Motion and Path Planning, Autonomous Navigation, Intelligent Transportation Systems

Abstract

This paper considers the problem of controlling an autonomous vehicle to arrive at a specific position on a road at a given time and velocity. This ability is particularly useful for a recently introduced autonomous intersection management protocol, called AIM, which has been shown to lead to lower delays than traffic signals and stop signs. Specifically, we introduce a setpoint scheduling algorithm for generating setpoints for the PID controllers for the brake and throttle actuators of an autonomous vehicle. The algorithm constructs a feasible setpoint schedule such that the vehicle arrives at the position at the correct time and velocity. Our experimental results show that the algorithm outperforms a heuristic-based setpoint scheduler that does not provide any guarantee about the arrival time and velocity.

 

 

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