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Setpoint Scheduling for Autonomous Vehicle Controllers Tsz-Chiu Au, Michael Quinlan, and Peter Stone
 

Summary: Setpoint Scheduling for Autonomous Vehicle Controllers
Tsz-Chiu Au, Michael Quinlan, and Peter Stone
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 man-
agement 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.
I. INTRODUCTION
Recent developments in robotic vehicles lead us to believe
that fully autonomous vehicles will be widely adopted in the
future. Looking ahead to the time when such autonomous

  

Source: Au, Tsz-Chiu - Department of Computer Sciences, University of Texas at Austin
Stone, Peter - Department of Computer Sciences, University of Texas at Austin

 

Collections: Computer Technologies and Information Sciences