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Artificial potential functions for highway driving with collision avoidance

Wolf, Michael T. and Burdick, Joel W. (2008) Artificial potential functions for highway driving with collision avoidance. In: IEEE International Conference on Robotics and Automation, 2008. IEEE , Piscataway, NJ, pp. 3731-3736. ISBN 978-1-4244-1646-2.

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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 avoidance and passing. The construction of the vehicle avoidance potential is of primary importance, incorporating the structure and protocol of laned highway driving. Particularly, the shape and dimensions of the potential field behind each obstacle vehicle can appropriately encourage control vehicle slowing and/or passing, depending on the cars' velocities and surrounding traffic. Hard barriers on roadway edges and soft boundaries between navigable lanes keep the vehicle on the highway, with a preference to travel in a lane center.

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Additional Information:© 2008 IEEE. Issue Date: 19-23 May 2008; Date of Current Version: 13 June 2008.
Record Number:CaltechAUTHORS:20100723-095023737
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Official Citation:Wolf, M.T.; Burdick, J.W.; , "Artificial potential functions for highway driving with collision avoidance," Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , vol., no., pp.3731-3736, 19-23 May 2008 doi: 10.1109/ROBOT.2008.4543783 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19174
Deposited On:27 Jul 2010 23:39
Last Modified:08 Nov 2021 23:50

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