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Planning cooperative motions of cognitive automobiles using tree search algorithms

: Frese, C.; Beyerer, J.

Preprint urn:nbn:de:0011-n-1415223 (131 KByte PDF)
MD5 Fingerprint: e6d5c86453513271c86f80ee61095a30
The original publication is available at
Erstellt am: 7.7.2012

Dillmann, R.; Beyerer, J.; Aziz, Z.:
KI 2010: Advances in artificial intelligence. 33rd Annual German Conference on AI : Karlsruhe, Germany, September 21 -24, 2010, proceedings
Berlin: Springer, 2010 (Lecture Notes in Artificial Intelligence 6359)
ISBN: 978-3-642-16110-0
ISBN: 3-642-16110-3
ISSN: 0302-9743
German Conference on Artificial Intelligence (KI) <33, 2010, Karlsruhe>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

A tree search algorithm is proposed for planning cooperative motions of multiple vehicles. The method relies on planning techniques from artificial intelligence such as A* search and cost-to-go estimation. It avoids the restrictions of decoupling assumptions and exploits the full potential of cooperative actions. Precomputation of lower bounds is used to restrict the search to a small portion of the tree of possible cooperative actions. The proposed algorithm is applied to the problem of planning cooperative maneuvers for multiple cognitive vehicles with the aim of preventing accidents in dangerous traffic situations. Simulation results show the feasibility of the approach and the performance gain obtained by precomputing lower bounds.