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Lane changing and merging maneuvers of car-like robots

Sharma, Bibhya N. and Rai, R. and Vanualailai, Jito (2012) Lane changing and merging maneuvers of car-like robots. [Conference Proceedings]

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This research paper designs a unique motion planner of multiple platoons of nonholonomic car-like robots as a feasible solution to the lane changing/merging maneuvers. The decentralized planner with a leaderless approach and a path-guidance principle derived from the Lyapunov-based control scheme generates collision free avoidance and safe merging maneuvers from multiple lanes to a single lane by deploying a split/merge strategy. The fixed obstacles are the markings and boundaries of the road lanes, while the moving obstacles are the robots themselves. Real and virtual road lane markings and the boundaries of road lanes are incorporated into a workspace to achieve the desired formation and configuration of the robots. Convergence of the robots to goal configurations and the repulsion of the robots from specified obstacles are achieved by suitable attractive and repulsive potential field functions, respectively. The results can be viewed as a significant contribution to the avoidance algorithm of the intelligent vehicle systems (IVS). Computer simulations highlight the effectiveness of the split/merge strategy and the acceleration-based controllers.

Item Type: Conference Proceedings
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Generic Account
Date Deposited: 16 May 2013 21:10
Last Modified: 18 Jan 2017 03:37

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