TY - JOUR
T1 - A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements
AU - Escobar, Carlos
AU - Vargas, Francisco J.
AU - Peters, Andrés A.
AU - Carvajal, Gonzalo
N1 - Publisher Copyright:
© 2023 by the authors.
PY - 2023/2
Y1 - 2023/2
N2 - 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.
AB - 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.
KW - MIMO control
KW - experimental platform
KW - multi-agent systems
KW - path-following
KW - vehicle platooning
UR - http://www.scopus.com/inward/record.url?scp=85148885983&partnerID=8YFLogxK
U2 - 10.3390/math11040801
DO - 10.3390/math11040801
M3 - Article
AN - SCOPUS:85148885983
SN - 2227-7390
VL - 11
JO - Mathematics
JF - Mathematics
IS - 4
M1 - 801
ER -