Priority-based intersection management with kinodynamic constraints

Jean Gregoire (1) , Silvère Bonnabel (1) , Arnaud de La Fortelle (1, 2)

1 CAOR - Centre de Robotique
2 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée

We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot motion planning. Assuming the priorities between robots are assigned in advance and the existence of a collision-free trajectory respecting those priorities, we propose a provably safe trajectory planner satisfying kinodynamic constraints. The algorithm is shown to run in real time and to return safe (collision-free) trajectories. Simulation results on synthetic data illustrate the benefits of the approach.

Mots clés: motion planning; robot coordination; multiple robot; dynamic constraints; intelligent transportation systems; intelligent intersections; intelligent vehicles

Domaines: Automatique / Robotique

Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle. Priority-based intersection management with kinodynamic constraints. 2013. ⟨hal-00875435v2⟩