Global and Local Path Planning of MicroIV for Traffic Flow Modeling and Simulation

This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hierarchical topology maps is proposed to achieve a legal optimal path with the consideration of complicated topology maps caused by the dynamic traffic rules in local intersections and lanes. Secondly, multi-agents based control system architecture of MicroIV is designed where multi-autonomous driving tasks involved. Thirdly, a local path planning approach for different autonomous driving is proposed with the control system architecture. Experimental results show that these proposed approaches could meet the demand of path planning for MicroIV in complex traffic flow simulation.