Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed

Heejin Ahn; Andrea Rizzi; Alessandro Colombo; Domitilla Del Vecchio

IROS 2015poster32 citations

Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed

Heejin Ahn, Andrea Rizzi, Alessandro Colombo, Domitilla Del Vecchio

Abstract

This paper describes the implementation of a multi-vehicle supervisor to prevent collisions at intersections. The experiments are performed on an intersection testbed consisting of three RC cars. Here, we account for uncertainty in car dynamics and state measurement, and the presence of an uncontrolled car, which is human-driven. The supervisor overrides the controlled cars only when necessary to avoid a possible future collision. From the experiments, we demonstrate that intersection collisions are averted, that is, the cars continuously and safely run on the paths without stopping 92.8% of the times.

BibTeX

@inproceedings{iros2015_experimentaltest,
  title = {Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed},
  author = {Heejin Ahn and Andrea Rizzi and Alessandro Colombo and Domitilla Del Vecchio},
  booktitle = {IROS 2015},
  year = {2015}
}