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Setpoint Scheduling for Autonomous Vehicle Controllers.
Tsz-Chiu Au,
Michael Quinlan, and Peter
Stone.
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May 2012.
[PDF]684.9kB [postscript]2.7MB
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.
@InProceedings{ICRA12-au,
author = {Tsz-Chiu Au and Michael Quinlan and Peter Stone},
title = {Setpoint Scheduling for Autonomous Vehicle Controllers},
booktitle = {Proceedings of {IEEE} International Conference on Robotics and Automation (ICRA)},
location = {Minnesota, USA},
month = {May},
year = {2012},
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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