Abstract:
With the increasing applications of fully
autonomous vehicles, efficient motion coordination of multiautonomous
vehicles becomes a very important problem as it
significantly affects the productivity. This problem is even harder
to solve with the increases of the number of autonomous vehicles
employed in a dynamic changing environment and constraints to
vehicle movement. This paper presents a simultaneous path and
motion planning (SiPaMoP) approach to coordinate motions of
multi-autonomous vehicles in dynamic and strictly constrained
environments. This approach integrates the path planning,
collision avoidance and motion planning into a comprehensive
model, which has so far not attracted a lot of attention in the
academic literature, and optimizes vehicles’ path and speed to
minimize the completion time of a set of tasks. Simulation results
demonstrated that this approach can effectively coordinate the
motion of a team of vehicles, and solve the problems of traffic
congestion and collision under various traffic conditions.
