Micro - simulation Modeling of Coordination of Automated Guided Vehicles at Intersection 1

1 One of the challenging problems with autonomous vehicles is their performance at intersections. This 2 paper shows an alternative control method for the coordination of autonomous vehicles at 3 intersections. The proposed approach is grounded in multi-robot coordination and it also takes into 4 account vehicle dynamics as well as realistic communication constraints. The existing concept of 5 decentralized navigation functions is combined with a sensing model and a crossing strategy is 6 developed. It is shown that, thanks to the proposed approach, vehicles have smoother trajectories 7 when crossing at a four-way intersection. The proposed method is compared to adaptive traffic lights 8 and roundabouts in terms of throughput. Results show that using a decentralized navigation function 9 for the coordination of autonomous vehicles improves the performance by reducing energy 10 consumption and pollution emission. 11