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TECHNICAL PAPERS

A Composite Model for Vehicle Formation and Path Selection on a Cellular Structured Map

[+] Author and Article Information
Yongling Zheng

Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Laboratory, 2015 Neil Avenue, Columbus, OH 43210zheng.491@osu.edu

Ümit Özgüner

Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Laboratory, 2015 Neil Avenue, Columbus, OH 43210ozguner.1@osu.edu

As pointed out by one Reviewer, different path finding algorithms can be adjusted to handle switch backs. The particular one we introduce here matches both our model and our application domain well. As mentioned before, the DARPA Urban Challenge is particularly suited to link-based route selection, rather than node-based route selection.

J. Dyn. Sys., Meas., Control 129(5), 644-653 (Mar 08, 2007) (10 pages) doi:10.1115/1.2764506 History: Received April 02, 2006; Revised March 08, 2007

A new framework for multiple vehicle system modeling and control is proposed in this paper, emphasizing team behavior in a multilevel, multiresolutional way. This framework integrates issues like team formation and path following, so that tasks can easily be allocated to individual and teams of vehicles. The movement of the leader is modeled as a discrete state system within a cellular map, and the movement of the follower is modeled as a hybrid system, including the leader-follower interface. The advantage of this model framework is that it abstracts the main features of the dynamics of multiple vehicle systems in high dimensional spaces into one-dimensional cellular space, and simplifies and extends the model of followers. As an illustration of issues that need to be addressed carefully in the proposed framework, the concept of sharp turns or switch backs, is defined and a switch-back avoidance algorithm presented.

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Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

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Figure 2

Road map and graph

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Figure 3

Hierarchical layered model structure

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Figure 1

An example of adjacency matrix

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Figure 4

Illustration for coordinate systems in cells

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Figure 6

An example to show switch backs: Initial route

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Figure 7

An example to show switch backs: A route with switch backs

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Figure 8

An example to show switch backs: Another route with switch backs

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Figure 9

An example to show switch backs: Final route

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Figure 10

Algorithm demonstration

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Figure 11

Dijkstra’s shortest path

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Figure 12

Switch-back avoidance shortest path

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Figure 13

Vehicles moving on a map

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Figure 14

Vehicle trajectory as road indices and cell indices

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