Semi-autonomous control of multiple heterogeneous vehicles for intersection collision avoidance
Name
897472128-MIT.pdf
Description
Full printable version
Size
5.43 MB
Format
Adobe PDF
Checksum (MD5)
b564825b9a93ad5d8604814f712f10b9
Author(s)
Ahn, Heejin
Advisor(s)
Domitilla Del Vecchio.
Date Issued
2014
Publisher
Massachusetts Institute of Technology
Abstract
This paper describes the design of a supervisory controller (supervisor) that manages multiple heterogeneous vehicles, i.e., multiple controlled and uncontrolled vehicles, to avoid intersection collisions. Two main problems are addressed: verification of the safety of all vehicles at an intersection, and management of the inputs of controlled vehicles. For the verification problem, we employ an inserted idle-time scheduling approach, where the "inserted idle-time" is a time interval when the intersection is deliberately held idle for uncontrolled vehicles to safely cross the intersection. For the management problem, we design a supervisor that is least restrictive in the sense that it overrides controlled vehicles only when a safety violation becomes imminent. We analyze computational complexity and propose an efficient version of the supervisor with a quantified approximation bound. To mitigate the abrupt changes of control inputs and to reduce the number of unnecessary interventions, we additionally design two optimization problems and provide the supervisor with a more conservative bound.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 79-80).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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