Combined Path and Trajectory Planning for Energy-Efficient Coordination of Automated Vehicles in Confined Areas

• In this paper, we present a framework for combined path and motion trajectory planning for the purpose of coordinating fully automated vehicles in confined sites. The path planning component utilizes a Monte-Carlo tree search approach for computing the vehicle paths and the motion trajectory component utilizes a two-stage optimization-based algorithm that optimizes the state and input trajectories for all vehicles while avoiding inter-vehicle conflicts. The motion trajectories are tracked by a low-level controller and both the path and motion trajectories are recomputed based on the feedback signals. The performance of the framework is validated through numerical simulations and results show both improved energy efficiency and productivity.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Samhällsbyggnadsteknik -- Transportteknik och logistik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Civil Engineering -- Transport Systems and Logistics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

Energy efficiency; Motion planning; Trajectories; Trees (mathematics); Automated vehicles; Confined areas; Energy efficient; Fully automated; Motion trajectories; Motion trajectory planning; Optimization-based algorithm; Trajectory Planning; Tree-search; Two stage optimizations; Vehicles

Publikations- och innehållstyp

kon (ämneskategori)

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