Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed
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 uncontrol...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Online Access: | http://hdl.handle.net/1721.1/108196 https://orcid.org/0000-0001-9153-3491 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826190091550195712 |
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| author | Ahn, Heejin Rizzi, Andrea Colombo, Alessandro Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Ahn, Heejin Rizzi, Andrea Colombo, Alessandro Del Vecchio, Domitilla |
| author_sort | Ahn, Heejin |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T08:34:54Z |
| format | Article |
| id | mit-1721.1/108196 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:34:54Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1081962022-09-23T13:03:15Z Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed Ahn, Heejin Rizzi, Andrea Colombo, Alessandro Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Ahn, Heejin Del Vecchio, Domitilla 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. 2017-04-14T21:11:46Z 2017-04-14T21:11:46Z 2015-12 2015-10 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-9994-1 978-1-4799-9993-4 http://hdl.handle.net/1721.1/108196 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). https://orcid.org/0000-0001-9153-3491 https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/IROS.2015.7354056 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT Web Domain |
| spellingShingle | Ahn, Heejin Rizzi, Andrea Colombo, Alessandro Del Vecchio, Domitilla Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed |
| title | Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed |
| title_full | Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed |
| title_fullStr | Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed |
| title_full_unstemmed | Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed |
| title_short | Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed |
| title_sort | experimental testing of a semi autonomous multi vehicle collision avoidance algorithm at an intersection testbed |
| url | http://hdl.handle.net/1721.1/108196 https://orcid.org/0000-0001-9153-3491 https://orcid.org/0000-0001-6472-8576 |
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