dc.citation.conferencePlace |
US |
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dc.citation.conferencePlace |
Saint Paul; Minnesota; USA |
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dc.citation.endPage |
2060 |
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dc.citation.startPage |
2055 |
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dc.citation.title |
IEEE International Conference on Robotics and Automation |
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dc.contributor.author |
Au, Tsz-Chiu |
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dc.contributor.author |
Quinlan, M |
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dc.contributor.author |
Stone, P |
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dc.date.accessioned |
2023-12-20T02:07:33Z |
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dc.date.available |
2023-12-20T02:07:33Z |
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dc.date.created |
2014-12-23 |
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dc.date.issued |
2012-05-14 |
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dc.description.abstract |
This paper considers the problem of controlling an autonomous vehicle to arrive at a specific position on a road at a given time and velocity. This ability is particularly useful for a recently introduced autonomous intersection management protocol, called AIM, which has been shown to lead to lower delays than traffic signals and stop signs. Specifically, we introduce a setpoint scheduling algorithm for generating setpoints for the PID controllers for the brake and throttle actuators of an autonomous vehicle. The algorithm constructs a feasible setpoint schedule such that the vehicle arrives at the position at the correct time and velocity. Our experimental results show that the algorithm outperforms a heuristic-based setpoint scheduler that does not provide any guarantee about the arrival time and velocity. |
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dc.identifier.bibliographicCitation |
IEEE International Conference on Robotics and Automation, pp.2055 - 2060 |
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dc.identifier.doi |
10.1109/ICRA.2012.6225232 |
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dc.identifier.issn |
1050-4729 |
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dc.identifier.scopusid |
2-s2.0-84864486578 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/34438 |
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dc.identifier.url |
http://www.scopus.com/inward/record.url?eid=2-s2.0-84864486578&partnerID=40&md5=aa5cc0b3dc9555c0b7ffecf87400ef5e |
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dc.language |
영어 |
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dc.publisher |
IEEE |
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dc.title |
Setpoint Scheduling for Autonomous Vehicle Controllers |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2012-05-14 |
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