Shared control of autonomous vehicles based on velocity space optimization
Shared control of autonomous vehicles based on velocity space optimization
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基于速度空间优化的自动驾驶车辆共享控制
DOI：
10.1109/icra.2014.6907071
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
P. Beardsley
中科院分区：
文献类型：
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作者：
Javier Alonso;Pascal Gohl;Scott Watson;R. Siegwart;P. Beardsley
本文提出了一种车辆共享控制的方法。驾驶员命令首选速度，将其转换为尊重执行器约束的无碰撞局部运动，并允许平稳和安全的控制。通过扩展考虑了动态约束的速度障碍和基于网格的地图表示来实现无碰撞的局部运动。为了限制驾驶员的自由，可以包含一个全局制导轨迹，它指定了车辆在每个时间实例中允许行驶的区域。该方法的低计算复杂度使其非常适合多代理设置和高更新率，并且提供了集中式和分布式算法，允许实时控制数十辆车辆。给出了实际机器人轮椅在相对高速、紧凑环境下的大量实验结果。
This paper presents a method for shared control of a vehicle. The driver commands a preferred velocity which is transformed into a collision-free local motion that respects the actuator constraints and allows for smooth and safe control. Collision-free local motions are achieved with an extension of velocity obstacles that takes into account dynamic constraints and a grid-based map representation. To limit the freedom of the driver, a global guidance trajectory can be included, which specifies the areas where the vehicle is allowed to drive in each time instance. The low computational complexity of the method makes it well suited for multi-agent settings and high update rates and both a centralized and a distributed algorithm are provided that allow for real-time control of tens of vehicles. Extensive experimental results with real robotic wheelchairs at relatively high speeds in tight scenarios are presented.