Publica
Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten. A comparison of motion planning algorithms for cooperative collision avoidance of multiple cognitive automobiles
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Preprint urn:nbn:de:0011-n-1895851 (244 KByte PDF) MD5 Fingerprint: bfe6543166ce90288ffe6d37fe14e374 © 2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Erstellt am: 7.7.2012 |
| Institute of Electrical and Electronics Engineers -IEEE-:
IEEE Intelligent Vehicles Symposium, IV 2011. Vol.2 : Baden-Baden, Germany, 5 - 9 June 2011
Piscataway/NJ: IEEE, 2011
ISBN: 978-1-4577-0890-9
ISBN: 978-1-4577-0891-6
S.1154-1160 |
| Intelligent Vehicles Symposium (IV) <2011, Baden-Baden> |
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| Englisch |
| Konferenzbeitrag, Elektronische Publikation |
| Fraunhofer IOSB () |
Abstract
Automated cooperative collision avoidance of multiple vehicles is a promising approach to increase road safety in the future. This approach requires a real-time motion planner which computes cooperative maneuvers of multiple cognitive vehicles. As motion planning is a task of high computational complexity, computing times of the planner have to be traded off against solution quality. This contribution compares several cooperative motion planning algorithms with respect to these criteria. The considered algorithms are a tree search algorithm relying on precomputed lower bounds, the elastic band method, mixed-integer linear programming, and a priority-based approach. Success rates and computing times on various simulated scenarios are reported.