Abstract
In this chapter, we present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks by introducing a control parameter. The routing algorithm allows a trade-off between the congestion level and the distance to the destination. Numerical verification of the coverage control strategy is provided on a number of representative examples with a well known micro agent simulator used for the analysis of traffic networks. It is crucial in many cases to tune the given control parameters to some optimal value in order to reduce congestion in the most effective way. The effects of different network structural properties are connected to the level of congestion and the optimal range for setting the control parameters.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Graham, D.: Variable returns to agglomeration and the effect of road traffic congestion. J. Urban Econ. 62, 103–120 (2007)
Wellington, B.: Quantifying the best and worst times of day to hit the road in NYC. Technical Report (2014)
Department for Transportation, Congestion: A National Issue. Technical Report (2014)
Pillac, V., Gendreau, M., Gueret, C., Medaglia, A.: A review of dynamic vehicle routing problems. Eur. J. Oper. Res. 225, 1–11 (2013)
Smith, M.: The stability of a dynamic model of traffic assignment - an application of a method of Lyapunov. Transp. Sci. 18, 245–252 (1984)
Dijkstra, E.: A note on two problems in connexion with graphs. Numer. Math. 1, 269–271 (1959)
Hart, P., Nils, J.: Formal basis for the heuristic determination of minimum cost paths. IEEE Trans. Syst. Cybern. 4(2), 100–107 (1968)
Delling, D., Sanders, P., Schultes, D., Wagner, D.: Engineering route planning algorithms. Algorithmics 2, 117–139 (2009)
Bell, M.: Hyperstar: a multi-path Astar algorithm for risk averse vehicle navigation. Transp. Res. Part B: Methodol. 43, 97–107 (2009)
Bell, M., Trozzi, V., Hosseinloo, S., Gentile, G., Fonzone, A.: Time-dependent hyperstar algorithm for robust vehicle navigation. Transp. Res. Part A: Policy Pract. 46, 790–800 (2012)
Lim, S., Rus, D.: Stochastic distributed multi-agent planning and applications to traffic. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2873–2879 (2012)
Schwager, M., Rus, D., Slotine, J.: Decentralized, adaptive coverage control for networked robots. Int. J. Robot. Res. 28(3), 357–375 (2009)
Zhai, C., He, F., Hong, Y., Wang, L., Yao, Y.: Coverage-based interception algorithm of multiple interceptors against the target involving decoys. J. Guid. Control. Dyn. 39(7), 1647–1653 (2016)
Schwager, M., Mclurkin, J., Rus, D.: Distributed coverage control with sensory feedback for networked robots. In: Proceedings of Robotics: Science and Systems, pp. 49–56 (2006)
Lighthill, M., Whitham, G.: On kinematic waves II. A theory of traffic flow on long crowded roads. Proc. R. Soc. Lond. Ser. A, Math. Phys. Sci. 229(1178), 317–345 (1955)
Smitha, S., Narendra, K., Usha, R., Divyashree, C., Gayatri, G., Aparajitha, M.: GPS based shortest path for ambulances using VANETs. In: 2012 International Conference on Wireless Networks, vol. 49, pp. 190–196 (2012)
Aslam, J., Lim, S., Rus, D.: Congestion-aware traffic routing system using sensor data. In: 15th International IEEE Conference on Intelligent Transportation Systems, pp. 1006–1013 (2012)
Behrisch, M., Bieker, L., Erdmann, J., Krajzewicz, D.: Sumo (simulation of urban mobility). In: The Third International Conference on Advances in System Simulation, pp. 55–60 (2011)
Manfredi, S., Garofalo, F., Bernardo, M.: Analysis and effects of retransmission mechanisms on data network performance. In: Proceedings of the 2004 International Symposium on Circuits and Systems, pp. 625–628 (2004)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Zhai, C., Zhang, HT., **ao, G. (2021). Coverage-Based Cooperative Routing Algorithm for Unmanned Ground Vehicles. In: Cooperative Coverage Control of Multi-Agent Systems and its Applications. Studies in Systems, Decision and Control, vol 408 . Springer, Singapore. https://doi.org/10.1007/978-981-16-7625-3_8
Download citation
DOI: https://doi.org/10.1007/978-981-16-7625-3_8
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-16-7624-6
Online ISBN: 978-981-16-7625-3
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)