We present a distributed approach to traffic signal control, where the signal timing parameters at a given intersection are adjusted as functions of the local traffic condition and of the signal timing parameters at adjacent intersections. Thus, the signal timing parameters evolve dynamically using only local information to improve traffic flow. This distributed approach provides for a fault-tolerant, highly responsive traffic management system.The signal timing at an intersection is defined by three parameters: cycle time, phase split, and offset. We use fuzzy decision rules to adjust these three parameters based only on local information. The amount of change in the timing parameters during each cycle is limited to a small fraction of the current parameters U, ensure smooth transition. We show the effectiveness of this method through simulation of the traffic flow in a network of controlled intersections.
We present an approach to sev-organizing traffic signal control based on a fully distributed system of cooperative local controllers. The signal timing parameters at each intersection are djusted by a local controller as functions of the local t r m condition and qf the signal timing parameters at adjacent htt?rsttc&ns.Each local controller uses a set of furzy decision rules to adjust the standard signal timing parameters: cycle time, phase split, and offset. This fully distributed architecture provides for a fault-tolerant, respnsive tr@c control system, while the underlying fuzzy rule-based algorithm provides for a flexible and easily extensible control law. We show the effectiveness of this method through simulalwn of the trafic flow in a network of controlled intersections.
Robot motion is commonly specified as a Cartesian trajectory of its end-effector. For executing the end-effector trajectory on-line, a look-ahead of a few points on the trajectory is used to generate the joint trajectories. This paper describes the construction of on-line cubic spline joint trajectories,for a limited-point look-ahead on a specified end-effector trajectory, not necessarily Cartesian. An analytical derivation for the ideal number of look-ahead points on the end-effector trajectory_for cubic spline interpolation is given. Experimental and simulation results of the on-line spline interpolation schemes show improved end-effector path tracking and smooth motion for a wide range of sampling rates on the effector trajectory.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.