Planning of Autonomous Multi-agent Intersection

Abstract

In this paper, we propose a traffic management system with agents acting on behalf autonomous vehicle at the crossroads. Alternatively to existing solutions based on usage of semiautonomous control systems with the control unit, proposed in this paper algorithm apply the principles of decentralized multi-agent control. Agents during their collaboration generate intersection plan and determinate the optimal order of road intersection for a given criterion based on the exchange of information about them and their environment. The paper contains optimization criteria for possible routes selection and experiments that perform in order to estimate the proposed model. Experiment results show that this model can significantly reduce traffic density compared to the traditional traffic management systems. Moreover, the proposed algorithm efficiency increases with road traffic density. Furthermore, the availability of control unit in the system significantly reduces the negative impact of possible failures and hacker attacks.