文章基本信息

标题：An Asynchronous Algorithm for Optimal Vehicle Coordination at Traffic Intersections
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作者：Mario Zanon ; Sébastien Gros ; Henk Wymeersch 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：12008-12014
DOI：10.1016/j.ifacol.2017.08.2124
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we propose an algorithm for vehicle coordination at intersections in order to avoid collisions within the intersection area while optimising an objective given as the sum of individual costs associated with each agent. Extending the results presented in Hult et al. (2016), we develop an algorithm with asynchronous sensitivity updates in order to reduce the time spent in communication. We select which sensitivities to update in order to minimise an upper bound on the contraction of the inexact Newton iterates and introduce a projection of the inexact Newton steps in order to ensure feasibility of the local problems. We prove convergence of our algorithm and test it on a numerical example in order to validate its effectiveness.
关键词：KeywordsAsynchronous SQPVehicle coordination