A Long-Duration Autonomy Approach to Connected and Automated Vehicles
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arXiv
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866916997509414912 |
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| author | Beaver, Logan E. |
| author_facet | Beaver, Logan E. |
| contents | In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks, including roundabouts, merging roadways, and intersections. We take a principled approach based on optimal control, and derive a reactive controller with guarantees on safety, performance, and energy efficiency. We guarantee safety through high order control barrier functions (HOCBFs), which we ``lift'' to first order CBFs using time-optimal motion primitives. This yields a set of first-order CBFs that are compatible with the control bounds. We demonstrate the performance of our approach in simulation and compare it to an optimal control-based approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_11804 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Long-Duration Autonomy Approach to Connected and Automated Vehicles Beaver, Logan E. Systems and Control Robotics In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks, including roundabouts, merging roadways, and intersections. We take a principled approach based on optimal control, and derive a reactive controller with guarantees on safety, performance, and energy efficiency. We guarantee safety through high order control barrier functions (HOCBFs), which we ``lift'' to first order CBFs using time-optimal motion primitives. This yields a set of first-order CBFs that are compatible with the control bounds. We demonstrate the performance of our approach in simulation and compare it to an optimal control-based approach. |
| title | A Long-Duration Autonomy Approach to Connected and Automated Vehicles |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2412.11804 |