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Platoon Coordination under Signal Temporal Logic Specifications

Tid: Må 2020-09-14 kl 16.00 - 17.00

Plats: Online (Zoom): https://kth-se.zoom.us/j/5136258404

Respondent: Akash Singh

Opponent: Anton Björnberg

Handledare: Christos Verginis

Examiner: Dimos Dimarogonas

Abstract: This work aims at planning for tasks that will be undertaken by an autonomous vehicle in a computationally efficient manner, instead of usual calculation heavy methods like MPC, and present how they can enable the vehicle to move around highway on its own or in coordination with a platoon. Using computationally simple planners leaves enough bandwidth for processors to look for unprecedented changes in a dynamic environment. The major contribution of this thesis is in demonstrating the formulation of specification for such tasks in a dynamic and heterogeneous environment using Signal Temporal Logic(STL). Control Barrier Functions(CBF) are then used to represent them as constraints for the system which are in turn fulfilled by a quadratic optimization based controller. The STL definition allows more insight into planning for the system from a time-based perspective, while employing CBFs as constraints guarantees the system never leaves its specified set of safe states. Two different maneuvers, namely lane changing and overtaking-merging with a platoon, are performed. The merging task also demonstrates cooperation between vehicles using the same method, which shows its suitability for platoon coordination tasks. The proposed methodology is shown to work, through computer simulations and experiments