A numerical study of a Kalman filtering based strategy for platooning with lossy communication

Felipe Villenas, Francisco Vargas, Andres Peters

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1 Cita (Scopus)

Resumen

In this article, we consider homogeneous platoons where vehicles communicate through lossy links. We assume a predecessor following topology in where each vehicle sends its position to the immediate follower agent, and the transmission is subject to random data loss modeled as a Bernoulli process. A Kalman filtering based strategy is proposed to estimate the missing data. Such approach is compared with one where the missing data is replaced by a linear extrapolation based on previous data. The performance of each strategy is studied through numerical simulations for different data loss probabilities. The simulation results show that the Kalman filter-based strategy achieves a considerably better performance compared to the linear extrapolation case considering both, the tracking and the estimation errors.

Idioma originalInglés
Título de la publicación alojada2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control
Subtítulo de la publicación alojadaFor the Development of Sustainable Agricultural Systems, ICA-ACCA 2022
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665494083
DOI
EstadoPublicada - 2022
Publicado de forma externa
Evento2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022 - Virtual, Online, Chile
Duración: 24 oct. 202228 oct. 2022

Serie de la publicación

Nombre2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control: For the Development of Sustainable Agricultural Systems, ICA-ACCA 2022

Conferencia

Conferencia2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022
País/TerritorioChile
CiudadVirtual, Online
Período24/10/2228/10/22

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