Experimental Sensitivity Analysis of a Control Algorithm for Line Following Platooning

Felipe Rifo, Nelson Salvador, Francisca Donoso, Andres Peters, Gonzalo Carvajal, Francisco Vargas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we consider a line-following platooning problem and analyze a cooperative strategy to address distance-sensing issues. The strategy relies on limiting the velocity of the followers, whenever their distance to the imme-diate predecessor is lost due to sensing restrictions or failure. Specifically, we conduct a set of experiments to evaluate the parameter sensitivity of the control algorithm, which corresponds to the percentage of the predecessor's velocity that could be reached by each follower during a sensing loss scenario. We find that proper tuning must be carefully performed, as excessive velocity saturation may lead to undesired behaviors due to poor tracking capabilities, whereas insufficient saturation does not improve performance during unreliable sensing episodes. Our experiments are carried out on the RUPU platform, a low-cost scaled-down platform designed to study lateral and longitudinal control problems in path-following vehicle platooning.

Original languageEnglish
Title of host publication13th International Workshop on Robot Motion and Control, RoMoCo 2024 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages43-48
Number of pages6
ISBN (Electronic)9798350393965
DOIs
StatePublished - 2024
Externally publishedYes
Event13th International Workshop on Robot Motion and Control, RoMoCo 2024 - Poznan, Poland
Duration: 2 Jul 20244 Jul 2024

Publication series

Name13th International Workshop on Robot Motion and Control, RoMoCo 2024 - Proceedings

Conference

Conference13th International Workshop on Robot Motion and Control, RoMoCo 2024
Country/TerritoryPoland
CityPoznan
Period2/07/244/07/24

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