The Application of Reference-path Control to Vehicle Platoons
Identifieur interne : 004013 ( Main/Exploration ); précédent : 004012; suivant : 004014The Application of Reference-path Control to Vehicle Platoons
Auteurs : Drago Matko ; Gregor Klancar ; Saso Blazic ; Olivier Simonin [France] ; Franck Gechter ; Jean-Michel Contet [France] ; Pablo GruerSource :
English descriptors
- mix :
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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Affiliations:
- France
- Franche-Comté, Grand Est, Lorraine (région)
- Belfort, Nancy
- Institut national polytechnique de Lorraine, Université Nancy 2, Université de Lorraine, Université de technologie de Belfort-Montbéliard
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Le document en format XML
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<front><div type="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.</div>
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