Authors:
Drago Matko
1
;
Gregor Klancǎr
1
;
Sasǒ Blažič
1
;
Olivier Simonin
2
;
Franck Gechter
3
;
Jean-Michel Contet
3
and
Pablo Gruer
3
Affiliations:
1
Faculty of electrical engineering University of Ljubljana, Slovenia
;
2
lab: LORIA Maia project, University of Henri Poincare, France
;
3
Systems and Transportation Laboratory (SET), University of Technology of Belfort-Montbéliard (UTBM), France
Keyword(s):
Platoon, reactive multiagent, longitudinal and lateral control, reference-path following control.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Vehicle Control Applications
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 orient
ation error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.
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