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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In {IEEE} International Conference on Robotics and Automation (ICRA), May 2012.

@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} }