Lane Changing and Merging Maneuvers of Carlike Robots
This research paper designs a unique motion planner
of multiple platoons of nonholonomic car-like robots as a feasible
solution to the lane changing/merging maneuvers. The decentralized
planner with a leaderless approach and a path-guidance principle
derived from the Lyapunov-based control scheme generates collision
free avoidance and safe merging maneuvers from multiple lanes to a
single lane by deploying a split/merge strategy. The fixed obstacles
are the markings and boundaries of the road lanes, while the moving
obstacles are the robots themselves. Real and virtual road lane
markings and the boundaries of road lanes are incorporated into a
workspace to achieve the desired formation and configuration of the
robots. Convergence of the robots to goal configurations and the
repulsion of the robots from specified obstacles are achieved by
suitable attractive and repulsive potential field functions,
respectively. The results can be viewed as a significant contribution
to the avoidance algorithm of the intelligent vehicle systems (IVS).
Computer simulations highlight the effectiveness of the split/merge
strategy and the acceleration-based controllers.
[1] O. Ahemad, and H. Tang, "A controller for merging traffic," In Image
2003 Conference, Scottsdale, Arizona, July 14-18 2003.
[2] S. Ahn, and J. Cassidy, International Symposium of Traffic Theory,
chapter Freeway traffic oscillation and vehicle lane change maneuvers,
Elsevier, Amsterdam, pp. 691-710, 2007.
[3] W. Chee, and M. Tomiuka, "Unified motion control of vehicles for lane
change maneuvers in automated highway systems," Research Report,
California PATH Program, Inst. Trans. Stud., Univ. California, vol. 6,
1997.
[4] C. H. Hsu, and A. Liu, "Kinematic Design for Platoon-Lane-Change
Maneuvers," IEEE Transactions on Intelligent Transportation Systems,
vol. 9, no. 1, 2008.
[5] A. Kanaris, E. B. Kosmatopoulos, and P. A. Ioannou, "Strategies and
spacing requirements for lane changing and merging in automated
highway systems," IEEE Transactions on Vehicular Technology, vol.
50, no. 61, pp. 586-1581, Nov. 2001.
[6] P. A. Loannou, Automated Highway Systems, Plenum, New York,
1997.
[7] I. E. Paromtchik, Ph. Garner, and C. Laugier, "Autonomous maneuvers
of a nonholonomic vehicle," In Proceedings of the Inco-Copernicus
ERB-IC15-CT96-0702 Project, Multi-Agent Robot Systems for
Industrial Applications in the Transport Domain, France, May 25 1998.
[8] J. E. Naranjo, C. González, R. García, and T. de Pedro, "Lane- change
fuzzy control in autonomous vehicles for the overtaking maneuver,"
IEEE Transactions on Intelligent Transportation Systems, vol. 9, no. 3,
pp. 438-450, 2008.
[9] J. Sussman, Introduction to Transportation Systems, Artech House,
Norwood, MA, 2000.
[10] G. Klancar, D. Matko, and S. Blazic, "A control strategy for platoons of
differential drive wheeled mobile robot," Robotics and Autonomous
Systems, vol. 59, no. 2, pp. 57-64, Feb. 2011.
[11] P. N. Atkar, H. Choset, and A. A. Rizzi, "Distributed cooperative control
of multiple vehicle formations using structural potential functions," In
Proceedings of the 15th IFAC World Congress, Barcelona, Spain, July
21-26 2002.
[12] L. Barnes, W. Alvis, M. Fields, K. Valavanis, and W. Moreno,
"Heterogeneous swarm formation control using bivariate normal
functions to generate potential fields," In Proceedings of the IEEE
Workshop on Distributed Intelligent Systems: Collective Intelligence
and its Applications, Prague, vol. 4, June 2006.
[13] P. Ogren, E. Fiorelli, and N. E. Leonard, "Cooperative control of mobile
sensor networks: adaptive gradient climbing in a distributed
environment," IEEE Transactions on Automatic Control, vol. 49, no. 8,
pp. 1292-1302, Aug. 2004.
[14] T. Ikeda, J. Jongusuk, T Ikeda, and T. Mita, "Formation control of
multiple nonholonomic mobile robots," Electrical Engineering in Japan,
vol. 157, no. 3, pp. 81-88, 2006.
[15] E. W. Justh, and P. S. Krishnaprasad, "Equilibria and steering laws for
planar formations," Systems and Control Letters, vol. 52, pp. 25-28,
2004.
[16] J-C. Latombe, Robot Motion Planning, Kluwer Academic Publishers,
USA, 1991.
[17] L.-F. Lee, R. Bhatt, and V. Krovi, "Comparison of alternate methods for
distributed motion planning of robot collectives within a potential field
framework," In Proceedings of IEEE International Conference on
Robotics and Automation, pp. 99-104, April 2005.
[18] L.-F. Lee, and V. Krovi, "A standardized testing-ground for artificial
potential-field based motion planning for robot collectives," In
Proceedings of the Performance Metrics for Intelligent Systems
Workshop, Gaithersburg, August 2006.
[19] N. E. Leonard, and E. Fiorelli, "Virtual leaders, artificial potentials and
coordinated control of groups," In Proceedings of the IEEE Conference
on Decision and Control, Orlando, FL, USA, pp. 2968- 2973, Dec. 4-7
2001.
[20] O. Khatib, "Real time obstacle avoidance for manipulators and mobile
robots," International Journal of Robotics Research, vol. 7, no. 1, pp.
90-98, 1986.
[21] Y.S. Nam, B.H. Lee, and N.Y Ko. An analytic approach to moving
obstacle avoidance using an artificial potential field. In Procs of
IEEE/RSJ International Conference on Intelligent Robots and Systems,
volume 2, pages 482-487, August 1995.
[22] P. Song, and V. Kumar, "A potential field based approach to multi-robot
manipulation," In Proceedings of the IEEE International Conference on
Robotics & Automation, Washington, DC, May 2002.
[23] B. Sharma, J. Vanualailai, and A. Prasad, "Formation control of a swarm
of mobile manipulators," Rocky Mountain Journal of Mathematics, vol.
41, no. 3, pp. 900-940, 2011.
[24] B. Sharma, J. Vanualailai, and A. Prasad, "Trajectory planning and
Posture control of multiple manipulators," International Journal of
Applied Mathematics and Computation, vol. 2, no. 1, pp. 11-31, 2010.
[25] B. Sharma, J.Vanualailai, and S. Singh, "Lyapunov-based nonlinear
controllers for obstacle avoidance with a planar n-link doubly
nonholonomic manipulator," Robotics and Autonomous Systems, 2012,
http://dx.doi.org/10.1016/j.bbr.2011.03.031.
[26] B. Sharma. New Directions in the Applications of the Lyapunov-based
Control Scheme to the Find path Problem, PhD thesis, University of the
South Pacific, Suva, Fiji Islands, July 2008. PhD Dissertation.
[27] B. Sharma, J. Vanualailai, and S. Singh, Tunnel passing maneuvers of
prescribed formations, 2012.
[1] O. Ahemad, and H. Tang, "A controller for merging traffic," In Image
2003 Conference, Scottsdale, Arizona, July 14-18 2003.
[2] S. Ahn, and J. Cassidy, International Symposium of Traffic Theory,
chapter Freeway traffic oscillation and vehicle lane change maneuvers,
Elsevier, Amsterdam, pp. 691-710, 2007.
[3] W. Chee, and M. Tomiuka, "Unified motion control of vehicles for lane
change maneuvers in automated highway systems," Research Report,
California PATH Program, Inst. Trans. Stud., Univ. California, vol. 6,
1997.
[4] C. H. Hsu, and A. Liu, "Kinematic Design for Platoon-Lane-Change
Maneuvers," IEEE Transactions on Intelligent Transportation Systems,
vol. 9, no. 1, 2008.
[5] A. Kanaris, E. B. Kosmatopoulos, and P. A. Ioannou, "Strategies and
spacing requirements for lane changing and merging in automated
highway systems," IEEE Transactions on Vehicular Technology, vol.
50, no. 61, pp. 586-1581, Nov. 2001.
[6] P. A. Loannou, Automated Highway Systems, Plenum, New York,
1997.
[7] I. E. Paromtchik, Ph. Garner, and C. Laugier, "Autonomous maneuvers
of a nonholonomic vehicle," In Proceedings of the Inco-Copernicus
ERB-IC15-CT96-0702 Project, Multi-Agent Robot Systems for
Industrial Applications in the Transport Domain, France, May 25 1998.
[8] J. E. Naranjo, C. González, R. García, and T. de Pedro, "Lane- change
fuzzy control in autonomous vehicles for the overtaking maneuver,"
IEEE Transactions on Intelligent Transportation Systems, vol. 9, no. 3,
pp. 438-450, 2008.
[9] J. Sussman, Introduction to Transportation Systems, Artech House,
Norwood, MA, 2000.
[10] G. Klancar, D. Matko, and S. Blazic, "A control strategy for platoons of
differential drive wheeled mobile robot," Robotics and Autonomous
Systems, vol. 59, no. 2, pp. 57-64, Feb. 2011.
[11] P. N. Atkar, H. Choset, and A. A. Rizzi, "Distributed cooperative control
of multiple vehicle formations using structural potential functions," In
Proceedings of the 15th IFAC World Congress, Barcelona, Spain, July
21-26 2002.
[12] L. Barnes, W. Alvis, M. Fields, K. Valavanis, and W. Moreno,
"Heterogeneous swarm formation control using bivariate normal
functions to generate potential fields," In Proceedings of the IEEE
Workshop on Distributed Intelligent Systems: Collective Intelligence
and its Applications, Prague, vol. 4, June 2006.
[13] P. Ogren, E. Fiorelli, and N. E. Leonard, "Cooperative control of mobile
sensor networks: adaptive gradient climbing in a distributed
environment," IEEE Transactions on Automatic Control, vol. 49, no. 8,
pp. 1292-1302, Aug. 2004.
[14] T. Ikeda, J. Jongusuk, T Ikeda, and T. Mita, "Formation control of
multiple nonholonomic mobile robots," Electrical Engineering in Japan,
vol. 157, no. 3, pp. 81-88, 2006.
[15] E. W. Justh, and P. S. Krishnaprasad, "Equilibria and steering laws for
planar formations," Systems and Control Letters, vol. 52, pp. 25-28,
2004.
[16] J-C. Latombe, Robot Motion Planning, Kluwer Academic Publishers,
USA, 1991.
[17] L.-F. Lee, R. Bhatt, and V. Krovi, "Comparison of alternate methods for
distributed motion planning of robot collectives within a potential field
framework," In Proceedings of IEEE International Conference on
Robotics and Automation, pp. 99-104, April 2005.
[18] L.-F. Lee, and V. Krovi, "A standardized testing-ground for artificial
potential-field based motion planning for robot collectives," In
Proceedings of the Performance Metrics for Intelligent Systems
Workshop, Gaithersburg, August 2006.
[19] N. E. Leonard, and E. Fiorelli, "Virtual leaders, artificial potentials and
coordinated control of groups," In Proceedings of the IEEE Conference
on Decision and Control, Orlando, FL, USA, pp. 2968- 2973, Dec. 4-7
2001.
[20] O. Khatib, "Real time obstacle avoidance for manipulators and mobile
robots," International Journal of Robotics Research, vol. 7, no. 1, pp.
90-98, 1986.
[21] Y.S. Nam, B.H. Lee, and N.Y Ko. An analytic approach to moving
obstacle avoidance using an artificial potential field. In Procs of
IEEE/RSJ International Conference on Intelligent Robots and Systems,
volume 2, pages 482-487, August 1995.
[22] P. Song, and V. Kumar, "A potential field based approach to multi-robot
manipulation," In Proceedings of the IEEE International Conference on
Robotics & Automation, Washington, DC, May 2002.
[23] B. Sharma, J. Vanualailai, and A. Prasad, "Formation control of a swarm
of mobile manipulators," Rocky Mountain Journal of Mathematics, vol.
41, no. 3, pp. 900-940, 2011.
[24] B. Sharma, J. Vanualailai, and A. Prasad, "Trajectory planning and
Posture control of multiple manipulators," International Journal of
Applied Mathematics and Computation, vol. 2, no. 1, pp. 11-31, 2010.
[25] B. Sharma, J.Vanualailai, and S. Singh, "Lyapunov-based nonlinear
controllers for obstacle avoidance with a planar n-link doubly
nonholonomic manipulator," Robotics and Autonomous Systems, 2012,
http://dx.doi.org/10.1016/j.bbr.2011.03.031.
[26] B. Sharma. New Directions in the Applications of the Lyapunov-based
Control Scheme to the Find path Problem, PhD thesis, University of the
South Pacific, Suva, Fiji Islands, July 2008. PhD Dissertation.
[27] B. Sharma, J. Vanualailai, and S. Singh, Tunnel passing maneuvers of
prescribed formations, 2012.
@article{"International Journal of Electrical, Electronic and Communication Sciences:61061", author = "Bibhya Sharma and Jito Vanualailai and Ravindra Rai", title = "Lane Changing and Merging Maneuvers of Carlike Robots", abstract = "This research paper designs a unique motion planner
of multiple platoons of nonholonomic car-like robots as a feasible
solution to the lane changing/merging maneuvers. The decentralized
planner with a leaderless approach and a path-guidance principle
derived from the Lyapunov-based control scheme generates collision
free avoidance and safe merging maneuvers from multiple lanes to a
single lane by deploying a split/merge strategy. The fixed obstacles
are the markings and boundaries of the road lanes, while the moving
obstacles are the robots themselves. Real and virtual road lane
markings and the boundaries of road lanes are incorporated into a
workspace to achieve the desired formation and configuration of the
robots. Convergence of the robots to goal configurations and the
repulsion of the robots from specified obstacles are achieved by
suitable attractive and repulsive potential field functions,
respectively. The results can be viewed as a significant contribution
to the avoidance algorithm of the intelligent vehicle systems (IVS).
Computer simulations highlight the effectiveness of the split/merge
strategy and the acceleration-based controllers.", keywords = "Lane merging, Lyapunov-based control scheme,
path-guidance principle, split/merge strategy.", volume = "6", number = "12", pages = "1512-10", }
