THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS

Drago Matko, Gregor Klancǎr, Sasǒ Blažič, Olivier Simonin, Franck Gechter, Jean-Michel Contet, Pablo Gruer

Abstract

A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. The platooning vehicles have non-holonomic constraints. The following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. The reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. The parameters of the polynominals are determined using the least-squares method. This parametric reference path is also used to determine the feed-forward part of the applied control algorithm. The feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orientation error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.

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Paper Citation


in Harvard Style

Matko D., Klancǎr G., Blažič S., Simonin O., Gechter F., Contet J. and Gruer P. (2008). THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 145-150. DOI: 10.5220/0001476801450150


in Bibtex Style

@conference{icinco08,
author={Drago Matko and Gregor Klancǎr and Sasǒ Blažič and Olivier Simonin and Franck Gechter and Jean-Michel Contet and Pablo Gruer},
title={THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={145-150},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001476801450150},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS
SN - 978-989-8111-31-9
AU - Matko D.
AU - Klancǎr G.
AU - Blažič S.
AU - Simonin O.
AU - Gechter F.
AU - Contet J.
AU - Gruer P.
PY - 2008
SP - 145
EP - 150
DO - 10.5220/0001476801450150