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Increasing Feasibility with Priority Assignment in Distributed Trajectory Planning for Road Vehicles

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posted on 01.06.2022, 17:22 authored by Patrick ScheffePatrick Scheffe, Georg Dorndorf, Bassam AlrifaeeBassam Alrifaee

Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The priorities assigned to agents determine if a feasible solution for all agents exists. This problem has been investigated in the domain of robotics for many years, and has recently been picked up in the domain of road vehicles. We develop a dynamic priority assignment algorithm for road vehicles based on an approach from the domain of robotics. In our algorithm, each vehicle determines its priority in a distributed fashion. The priority of a vehicle increases with the number of potential collisions on its planned path to increase the success of the distributed control problem. We further propose an approach for priority-based non-cooperative distributed model predictive control with dynamic priorities and prove recursive feasibility for the NCS. This paper presents the first evaluation in experiment of the priority assignment algorithm. We compare the algorithm’s performance to dynamic random priorities and to static priorities.

Funding

SPP 1835:  Kooperativ interagierende Automobile

Deutsche Forschungsgemeinschaft

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Email Address of Submitting Author

scheffe@embedded.rwth-aachen.de

ORCID of Submitting Author

0000-0002-2707-198X

Submitting Author's Institution

RWTH Aachen University

Submitting Author's Country

Germany

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