The Application of Reference-path Control to Vehicle Platoons
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Auteurs : Drago Matko ; Gregor Klancar ; Saso Blazic ; Olivier Simonin [France] ; Franck Gechter ; Jean-Michel Contet [France] ; Pablo GruerSource :
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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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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.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">The Application of Reference-path Control to Vehicle Platoons</title><author role="crp"><persName><forename type="first">Drago</forename><surname>Matko</surname></persName><email>Drago.Matko@fe.uni-lj.si</email><idno type="halauthor">366952</idno><orgName ref="#struct-366249"></orgName></author><author role="aut"><persName><forename type="first">Gregor</forename><surname>Klancar</surname></persName><email></email><idno type="halauthor">366953</idno><orgName ref="#struct-366249"></orgName></author><author role="aut"><persName><forename type="first">Saso</forename><surname>Blazic</surname></persName><email></email><idno type="halauthor">366954</idno><orgName ref="#struct-366249"></orgName></author><author role="aut"><persName><forename type="first">Olivier</forename><surname>Simonin</surname></persName><email>Olivier.Simonin@loria.fr</email><idno type="halauthor">208392</idno><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">Franck</forename><surname>Gechter</surname></persName><email>franck.gechter@utbm.fr</email><idno type="halauthor">121984</idno></author><author role="aut"><persName><forename type="first">Jean-Michel</forename><surname>Contet</surname></persName><email>jmcontet@gmail.com</email><idno type="halauthor">366955</idno><orgName ref="#struct-300261"></orgName><affiliation ref="#struct-21190"></affiliation></author><author role="aut"><persName><forename type="first">Pablo</forename><surname>Gruer</surname></persName><email>pablo.gruer@loria.fr</email><idno type="halauthor">366956</idno><orgName ref="#struct-300261"></orgName></author><editor role="depositor"><persName><forename>Olivier</forename><surname>Simonin</surname></persName><email>olivier.simonin@insa-lyon.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2008-11-13 18:00:45</date><date type="whenModified">2016-05-18 09:00:29</date><date type="whenReleased">2008-11-13 18:00:45</date><date type="whenProduced">2008-05-12</date></edition><respStmt><resp>contributor</resp><name key="112831"><persName><forename>Olivier</forename><surname>Simonin</surname></persName><email>olivier.simonin@insa-lyon.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">inria-00338639</idno><idno type="halUri">https://hal.inria.fr/inria-00338639</idno><idno type="halBibtex">matko:inria-00338639</idno><idno type="halRefHtml">5th International Conference on Informatics in Control, Automation and Robotics - 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Grand Est</idno><idno type="stamp" n="LABO-LORIA-SET" p="LORIA">LABO-LORIA-SET</idno><idno type="stamp" n="UNIV-BM-THESE">Université de Technologie de Belfort-Montbeliard</idno><idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">The Application of Reference-path Control to Vehicle Platoons</title><author role="crp"><persName><forename type="first">Drago</forename><surname>Matko</surname></persName><email>Drago.Matko@fe.uni-lj.si</email><idno type="halAuthorId">366952</idno><orgName ref="#struct-366249"></orgName></author><author role="aut"><persName><forename type="first">Gregor</forename><surname>Klancar</surname></persName><idno type="halAuthorId">366953</idno><orgName ref="#struct-366249"></orgName></author><author role="aut"><persName><forename type="first">Saso</forename><surname>Blazic</surname></persName><idno type="halAuthorId">366954</idno><orgName ref="#struct-366249"></orgName></author><author role="aut"><persName><forename type="first">Olivier</forename><surname>Simonin</surname></persName><email>Olivier.Simonin@loria.fr</email><idno type="halAuthorId">208392</idno><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">Franck</forename><surname>Gechter</surname></persName><email>franck.gechter@utbm.fr</email><idno type="halAuthorId">121984</idno></author><author role="aut"><persName><forename type="first">Jean-Michel</forename><surname>Contet</surname></persName><email>jmcontet@gmail.com</email><idno type="halAuthorId">366955</idno><orgName ref="#struct-300261"></orgName><affiliation ref="#struct-21190"></affiliation></author><author role="aut"><persName><forename type="first">Pablo</forename><surname>Gruer</surname></persName><email>pablo.gruer@loria.fr</email><idno type="halAuthorId">366956</idno><orgName ref="#struct-300261"></orgName></author></analytic><monogr><meeting><title>5th International Conference on Informatics in Control, Automation and Robotics - ICINCO 2008</title><date type="start">2008-05-12</date><settlement>Madeira</settlement><country key="PT">Portugal</country></meeting><imprint><date type="datePub">2008</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">Platoon</term><term xml:lang="en">reactive multiagent</term><term xml:lang="en">longitudinal and lateral control</term><term xml:lang="en">reference-path following control</term></keywords><classCode scheme="halDomain" n="info.info-ma">Computer Science [cs]/Multiagent Systems [cs.MA]</classCode><classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">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.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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