Abstract
Autonomous vehicles are gaining more and more interest, as from the logistic perspective, transportation costs may be reduced and safety increased, if the underlying techniques and algorithms are capable to handle such complex scenarios. In this paper, we consider an intersection scenario with autonomous connected vehicles that cross an intersection without any central control or traffic lights. The intersection as the operation space is discretised into a set of equidistant cells. Therefore, to avoid collisions, the vehicles reserve cell indices which are communicated in each time instant. We evaluate analytical and heuristic path planning algorithms to measure the performance criteria in simulations with respect to system aspects, i.e. execution time and memory consumption, and solution quality.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Dijkstra, E.W.: A note on two problems in connexion with graphs. Numer. Math. 1, 269–271 (1959). http://www-m3.ma.tum.de/twiki/pub/MN0506/WebHome/dijkstra.pdf
Floyd, R.W.: Algorithm 97: shortest path. Commun. ACM 5(6), 345 (1962). http://doi.acm.org/10.1145/367766.368168
Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Trans. Syst. Sci. Cybern. 4(2), 100–107 (1968)
Katrakazas, C., Quddus, M., Chen, W.H., Deka, L.: Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions. Transp. Res. Part C: Emerg. Technol. 60, 416–442 (2015). http://linkinghub.elsevier.com/retrieve/pii/S0968090X15003447
Koenig, S., Likhachev, M.: Fast replanning for navigation in unknown terrain. IEEE Trans. Rob. 21(3), 354–363 (2005)
Lefebvre, D.: Deadlock-free scheduling for manufacturing systems based on timed Petri nets and model predictive control. In: 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, pp. 3013–3018. IEEE (2015). http://dx.doi.org/10.1016/j.ifacol.2016.07.635
Makarem, L., Gillet, D.: Model predictive coordination of autonomous vehicles crossing intersections. In: Proceedings of the IEEE Conference on Intelligent Transportation Systems, The Hague, Netherlands, pp. 1799–1804. IEEE (2013)
Mehrez, M.W., Sprodowski, T., Worthmann, K., Mann, G.K.I., Gosine, R.G., Sagawa, J.K., Pannek, J.: Occupancy grid based distributed model predictive control of mobile robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 4842–4847. IEEE (2017)
Meyer, J., Becker, H., Bösch, P.M., Axhausen, K.W.: Autonomous vehicles: the next jump in accessibilities? Res. Transp. Econ. 62, 80–91 (2017). https://doi.org/10.1016/j.retrec.2017.03.005
Moore, E.F.: A generalized firing squad problem. Inf. Control 12, 212–220 (1968). https://doi.org/10.1016/S0019-9958(68)90309-4
Sprodowski, T., Pannek, J.: Stability of distributed MPC in an intersection scenario. J. Phys. Conference Series 659(1), 12049 (2015) http://stacks.iop.org/1742-6596/659/i=1/a=012049
Trodden, P., Richards, A.: Robust distributed model predictive control using tubes. In: 2006 American Control Conference, pp. 2034–2039 (2006)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Sprodowski, T., Mayet, A.S., Pannek, J. (2018). Evaluation of the Performance of Heuristic Algorithms in an Intersection Scenario. In: Freitag, M., Kotzab, H., Pannek, J. (eds) Dynamics in Logistics. LDIC 2018. Lecture Notes in Logistics. Springer, Cham. https://doi.org/10.1007/978-3-319-74225-0_46
Download citation
DOI: https://doi.org/10.1007/978-3-319-74225-0_46
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-74224-3
Online ISBN: 978-3-319-74225-0
eBook Packages: EngineeringEngineering (R0)