Open Science Research Excellence
%0 Journal Article
%A Bibhya Sharma and  Jito Vanualailai and  Ravindra Rai
%D 2012 
%J  International Journal of Electrical, Computer, Energetic, Electronic and Communication Engineering
%B World Academy of Science, Engineering and Technology
%I International Science Index 72, 2012
%T Lane Changing and Merging Maneuvers of Carlike Robots
%V 72
%X This research paper designs a unique motion planner
of multiple platoons of nonholonomic car-like robots as a feasible
solution to the lane changing/merging maneuvers. The decentralized
planner with a leaderless approach and a path-guidance principle
derived from the Lyapunov-based control scheme generates collision
free avoidance and safe merging maneuvers from multiple lanes to a
single lane by deploying a split/merge strategy. The fixed obstacles
are the markings and boundaries of the road lanes, while the moving
obstacles are the robots themselves. Real and virtual road lane
markings and the boundaries of road lanes are incorporated into a
workspace to achieve the desired formation and configuration of the
robots. Convergence of the robots to goal configurations and the
repulsion of the robots from specified obstacles are achieved by
suitable attractive and repulsive potential field functions,
respectively. The results can be viewed as a significant contribution
to the avoidance algorithm of the intelligent vehicle systems (IVS).
Computer simulations highlight the effectiveness of the split/merge
strategy and the acceleration-based controllers.
%P 1498 - 1507