A reactive mutli-agent approach to car driving using artificial potential fields

Document type: Conference Papers
Peer reviewed: Yes
Author(s): Tim Uusitalo, Stefan J. Johansson
Title: A reactive mutli-agent approach to car driving using artificial potential fields
Conference name: IEEE Conference on Computational Intelligence and Games, CIG
Year: 2011
Pagination: 203-210
ISBN: 978-145770009-5
Publisher: IEEE
City: Seoul
URI/DOI: 0.1109/CIG.2011.6032008
ISI number: 000298666800027
Organization: Blekinge Institute of Technology
Department: School of Computing (Sektionen för datavetenskap och kommunikation)
School of Computing S-371 79 Karlskrona
+46 455 38 50 00
http://www.bth.se/com
Language: English
Abstract: The Car Racing championship initiative is a platform for evaluating different car control solutions under competitive conditions. We introduce the novel combination of using artificial potential fields as the major control paradigm, and a multi-agent system to deal with the coordination of the different control interests. By combining fields for shortest path, and minimal curvature with a field that makes sure that the car stays on the track, we get a purely reactive car controller. The experimental evaluation of it shows that it performs well, ending at 2nd place in the time challenge, and in the top in the car races against three of the controllers of last year's championship.
Subject: Software Engineering\General
Keywords: Artificial potential fields, Car driving, Control solutions, Experimental evaluation, Shortest path
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