TY - GEN
T1 - Experimental Validation of Cooperative Adaptive Cruise Control Schemes Under the Presence of Time Delays
AU - Badillo, Diego
AU - Villenas, Felipe
AU - Huidobro, Cristobal
AU - Vargas, Francisco
AU - Peters, Andres
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper considers the experimental validation of theoretical results for cooperative platooning using the PL-TOON platform. In particular, we study an information relaying algorithm that enables a chain of autonomous vehicles, when there is perfect communication, to navigate in a string stable fashion, that is, without amplifying disturbances as they propagate along the vehicle string. Using the aforementioned experimental platform, we verify that such an algorithm can improve the string stability characteristics of a set of autonomous agents traveling in a tight formation on tracks. However, we also verify that the presence of time delays in the communication is very detrimental to the collective behavior of the agents, confirming theoretical results establishing this. We compare the experimental results with the theoretical ones and simulations of them, which highlights the capabilities of the experimental platform used. We also discuss alternatives for improving the robustness of similar cooperative platooning algorithms.
AB - This paper considers the experimental validation of theoretical results for cooperative platooning using the PL-TOON platform. In particular, we study an information relaying algorithm that enables a chain of autonomous vehicles, when there is perfect communication, to navigate in a string stable fashion, that is, without amplifying disturbances as they propagate along the vehicle string. Using the aforementioned experimental platform, we verify that such an algorithm can improve the string stability characteristics of a set of autonomous agents traveling in a tight formation on tracks. However, we also verify that the presence of time delays in the communication is very detrimental to the collective behavior of the agents, confirming theoretical results establishing this. We compare the experimental results with the theoretical ones and simulations of them, which highlights the capabilities of the experimental platform used. We also discuss alternatives for improving the robustness of similar cooperative platooning algorithms.
KW - CACC
KW - Experimental Validation
KW - Platooning
KW - String Stability
KW - Time Delays
UR - http://www.scopus.com/inward/record.url?scp=85147088879&partnerID=8YFLogxK
U2 - 10.1109/ICA-ACCA56767.2022.10005970
DO - 10.1109/ICA-ACCA56767.2022.10005970
M3 - Conference contribution
AN - SCOPUS:85147088879
T3 - 2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control: For the Development of Sustainable Agricultural Systems, ICA-ACCA 2022
BT - 2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022
Y2 - 24 October 2022 through 28 October 2022
ER -