Controlling automated vehicles in complex environments like roundabouts introduces challenges due to vehicle conflict and geometrical intricacies. This paper presents a robust methodology to enhance navigation.
The proposed vehicle control strategy utilizes offline-computed overlapping movement corridors for each Origin-Destination pair, ensuring safe and efficient navigation through the roundabout's fluid dynamics.
By employing distributed nonlinear feedback control for each vehicle, this method prioritizes collision avoidance, aligning movement with desired orientations dictated by each vehicle's destination.
The study utilizes the complex Place Charles de Gaulle roundabout as a case study, demonstrating the effectiveness of the proposed strategies through detailed microscopic simulations.
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