A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements

This paper uses a line-following approach to study the longitudinal and lateral problems in vehicle platooning. Under this setup, we assume that inter-vehicle distance sensing is unreliable and propose a cooperative control strategy to render the platoon less vulnerable to these sensing difficulties...

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Bibliographic Details
Published in:Mathematics (Basel) Vol. 11; no. 4; p. 801
Main Authors: Escobar, Carlos, Vargas, Francisco J., Peters, Andrés A., Carvajal, Gonzalo
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.02.2023
Subjects:
Agents (artificial intelligence)
Algorithms
Communication
Control algorithms
Control theory
Cooperative control
Distance measurement
experimental platform
Food science
Infrastructure
MIMO control
multi-agent systems
path-following
Platooning
Roads & highways
Sensors
Software
vehicle platooning
Vehicles
Wireless communications
ISSN:2227-7390, 2227-7390
Online Access:Get full text
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Summary:This paper uses a line-following approach to study the longitudinal and lateral problems in vehicle platooning. Under this setup, we assume that inter-vehicle distance sensing is unreliable and propose a cooperative control strategy to render the platoon less vulnerable to these sensing difficulties. The proposed control scheme uses the velocity of the predecessor vehicle, communicated through a Vehicle-to-Vehicle technology, to avoid significant oscillations in the local speed provoked by tracking using unreliable local distance measurements. We implement the proposed control algorithm in the RUPU platform, a low-cost experimental platform with wireless communication interfaces that enable the implementation of cooperative control schemes for mobile agent platooning. The experiments show the effectiveness of the proposed cooperative control scheme in maintaining a suitable performance even when subject to temporal distortions in local measurements, which, in the considered experimental setup, arise from losing the line-of-sight of the local sensors in paths with closed curves.
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ISSN:2227-7390
2227-7390
DOI:10.3390/math11040801