Defesa de Ex. Qualificação – Elham Ahmadi – 20/9/2021
02/09/2021 19:30
| Defesa de Exame de Qualificação | |
| Aluna | Elham Ahmadi |
| Orientador
Coorientador |
Prof. Werner Kraus Junior, Dr. – DAS/UFSC
Prof. Rodrigo Castelan Carlson, Dr. – DAS/UFSC |
| Data
Local |
20/9/2021 14h30 (segunda-feira)
Videoconferência (meet.google.com/azc-ufke-ixw) |
| Prof. Julio Elias Normey-Rico, Dr. – DAS/UFSC (presidente)
Prof. Henrique Simas, Dr. – EMC/UFSC; Prof. Ehsan Taheri, Dr. – DAE/Auburn University. |
|
| Título | Collision-free Trajectory Optimization for Connected Vehicles under Automated Driving at Intersection Plaza |
| Abstract: This thesis proposal investigates the problem of optimal coordination of connected vehicles under automated driving (CVAD) at intersections. An intersection in this context is a space without horizontal marking or any movement-related structural restriction, except for its boundaries. Consequently, we enable the CVAD to drive with more flexibility by entirely utilizing the intersection space, which we call a plaza. Based on optimal control theory, this thesis proposes an intersection trajectory optimal control problem (ITOP) to manage CVAD movements in a plaza. In particular, ITOP generates optimal trajectories, without predefined paths, that optimize a performance index while satisfying a set of practical constraints such as vehicle dynamics, boundary conditions, inter-vehicle collision avoidance constraints, and plaza boundaries constraints. Then, we propose utilizing finite Fourier series (FFS) and discretization to transform the ITOP to a nonlinear programming (NLP) problem with Fourier coefficients as decision variables. Numerical results demonstrate that the proposed approach generates feasible trajectories and is suitable for the solution of ITOP. We also proposed a revised and more structured version of the ITOP, namely R-ITOP, that aims to tackle the limitation of the original ITOP model and enable us to develop more efficient solution algorithms. As for the thesis, the main aim is to consider more realistic situations and develop efficient algorithms to solve the R-ITOP model. Finally, we present the research roadmap and the proposal. | |
