Verteilte Koordination und Pfadplanung von autonomen Fahrzeugen


This paper deals with the pathplanning of autonomous vehicles. Thereby the kine- matic constraints of the vehicle are regarded. Concrete methods had been imple- mented and compared. Due to the avoidance of collisions among vehicles an dis- tributed algorithm for the decentralized coordination of autonomous vehicles is de- scribed. This algorithm is optimal in respect of an distibuted weighting function.