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

Carlos Escobar, Francisco J. Vargas, Andrés A. Peters, Gonzalo Carvajal

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Article number801
JournalMathematics
Volume11
Issue number4
DOIs
StatePublished - Feb 2023
Externally publishedYes

Keywords

  • MIMO control
  • experimental platform
  • multi-agent systems
  • path-following
  • vehicle platooning

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