Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed
Name
Del Vecchio_Experimental testing.pdf
Size
1.92 MB
Format
Adobe PDF
Checksum (MD5)
4a4cb73d738ec9ab2323fd5c488df72a
Author(s)
Ahn, Heejin
Rizzi, Andrea
Colombo, Alessandro
Del Vecchio, Domitilla
Date Issued
December 2015
Journal
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Ahn, Heejin, Andrea Rizzi, Alessandro Colombo, and Domitilla Del Vecchio. “Experimental Testing of a Semi-Autonomous Multi-Vehicle Collision Avoidance Algorithm at an Intersection Testbed.” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (September 2015).
Version
Author's final manuscript
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2015.7354056
