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Distributed Control Algorithm for Cooperative Autonomous Driving Vehicles Inspired by Flocking Behaviour

Blondel, Joppe (2021) Distributed Control Algorithm for Cooperative Autonomous Driving Vehicles Inspired by Flocking Behaviour.

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Abstract:Control strategies for cooperatively autonomous driving vehicles are becoming more and more complex to ensure safe operation while, when taking inspiration from nature, more simple mathematical descriptions exist which describe behaviour of animals moving in a flocking or herding manner. In the eighties Reynolds came up with a set of heuristic rules [1] which form a model for flocking behaviour of birds and his work has been an inspiration for constructing a control strategy based on flocking behaviour for self-driving vehicles. Previous research relied on more simple kinematic models of vehicles and thus using it directly in real vehicles would be difficult. This research provides an algorithm inspired by flocking behaviour as found in swarms of birds and a bridge between said algorithm and a vehicle. A dedicated simulation environment which uses parallelism on a GPU is written and is used to determine the performance of the proposed algorithm. It is found that the proposed algorithm performs relatively well under the tested situations and is found that a wide range of parameters could be used which result in stable behaviour.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:54 computer science, 55 traffic technology, transport technology
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/85648
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