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Planning Cooperative Motions of Cognitive Automobiles Using Tree Search Algorithms

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KI 2010: Advances in Artificial Intelligence (KI 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6359))

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Abstract

A tree search algorithm is proposed for planning cooperative motions of multiple vehicles. The method relies on planning techniques from artificial intelligence such as A* search and cost-to-go estimation. It avoids the restrictions of decoupling assumptions and exploits the full potential of cooperative actions. Precomputation of lower bounds is used to restrict the search to a small portion of the tree of possible cooperative actions. The proposed algorithm is applied to the problem of planning cooperative maneuvers for multiple cognitive vehicles with the aim of preventing accidents in dangerous traffic situations. Simulation results show the feasibility of the approach and the performance gain obtained by precomputing lower bounds.

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Author information

Authors and Affiliations

  1. Karlsruhe Institute of Technology, Institute for Anthropomatics, Vision and Fusion Laboratory, 76128, Karlsruhe, Germany

    Christian Frese & Jürgen Beyerer

  2. Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Fraunhoferstraße 1, 76131, Karlsruhe, Germany

    Jürgen Beyerer

Authors
  1. Christian Frese
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  2. Jürgen Beyerer
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Editor information

Editors and Affiliations

  1. Institute for Anthropomatics, KIT, Karlsruhe, Germany

    Rüdiger Dillmann

  2. Lehrstuhl für Interaktive Echtzeitsysteme, KIT, Karlsruhe, Germany

    Jürgen Beyerer

  3. Lehrstuhl für Intelligente Sensor-Aktor-Systeme (ISAS), KIT, Karlsruhe, Germany

    Uwe D. Hanebeck

  4. Cognitive Systems Lab (CSL), KIT, Karlsruhe, Germany

    Tanja Schultz

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Frese, C., Beyerer, J. (2010). Planning Cooperative Motions of Cognitive Automobiles Using Tree Search Algorithms. In: Dillmann, R., Beyerer, J., Hanebeck, U.D., Schultz, T. (eds) KI 2010: Advances in Artificial Intelligence. KI 2010. Lecture Notes in Computer Science(), vol 6359. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16111-7_10

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  • DOI: https://doi.org/10.1007/978-3-642-16111-7_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16110-0

  • Online ISBN: 978-3-642-16111-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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