Work

Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed

Year: 2015

Type: conference-paper

Abstract: This paper describes the implementation of a multi-vehicle supervisor to prevent collisions at intersections. The experiments are performed on an intersection testbed consisting of three RC cars. Here, we account for uncertainty in car dynamics and state measurement, and the presence of an uncontrolled car, which is human-driven. The supervisor overrides the controlled cars only when necessary to avoid a possible future collision. From the experiments, we demonstrate that intersection collisions are averted, that is, the cars continuously and safely run on the paths without stopping 92.8% of the times.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros.2015.7354056

Authors: Heejin Ahn, Andrea Rizzi, Alessandro Colombo, Domitilla Del Vecchio

Institutions: Massachusetts Institute of Technology, Cornell University, Politecnico di Milano

Language: English

Topic: Traffic control and management

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDGs: Sustainable cities and communities, Industry, innovation and infrastructure

Open Access status: green

OpenAlex ID: W2213739823

FWCI: 3.258

Cites: 26

Cited by: 24

Related to: 10