Artificial potential functions for highway driving with collision avoidance

• Published in: 2008 IEEE International Conference on Robotics and Automation pp. 3731 - 3736
• Main Authors: Wolf, M.T., Burdick, J.W.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2008
• Subjects: Automated highways; Collision avoidance; Navigation; Road transportation; Road vehicles; Robot kinematics; Shape control; Space vehicles; Vehicle driving; Velocity control
• ISBN: 1424416469; 9781424416462
• ISSN: 1050-4729
• DOI: 10.1109/ROBOT.2008.4543783

We present a set of potential function components to assist an automated or semi-automated vehicle in navigating a multi-lane, populated highway. The resulting potential field is constructed as a superposition of disparate functions for lane- keeping, road-staying, speed preference, and vehicle avoi...