UTCS Artificial Intelligence
courses
talks/events
demos
people
projects
publications
software/data
labs
areas
admin
Setpoint Scheduling for Autonomous Vehicle Controllers (2012)
Tsz-Chiu Au
,
Michael Quinlan
, and
Peter Stone
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.
View:
PDF
,
PS
,
HTML
Citation:
In
{IEEE} International Conference on Robotics and Automation (ICRA)
, May 2012.
Bibtex:
@inproceedings{ICRA12-au, title={Setpoint Scheduling for Autonomous Vehicle Controllers}, author={Tsz-Chiu Au and Michael Quinlan and Peter Stone}, booktitle={{IEEE} International Conference on Robotics and Automation (ICRA)}, month={May}, url="http://www.cs.utexas.edu/users/ai-lab?ICRA12-au", year={2012} }
People
Tsz-Chiu Au
Postdoctoral Alumni
chiu [at] cs utexas edu
Michael Quinlan
Formerly affiliated Research Scientist
mquinlan [at] cs utexas edu
Peter Stone
Faculty
pstone [at] cs utexas edu
Areas of Interest
Autonomous Driving
Autonomous Traffic Management
Labs
Learning Agents