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The Application of Reference-path Control to Vehicle Platoons

Drago Matko * Gregor Klancar Saso Blazic Olivier Simonin 1 Franck Gechter Jean-Michel Contet 2 Pablo Gruer 
* Corresponding author
1 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. The platooning vehicles have non-holonomic constraints. The following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. The reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. The parameters of the polynominals are determined using the least-squares method. This parametric reference path is also used to determine the feed-forward part of the applied control algorithm. The feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orientation error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.
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Submitted on : Thursday, November 13, 2008 - 6:00:45 PM
Last modification on : Wednesday, February 2, 2022 - 3:53:48 PM


  • HAL Id : inria-00338639, version 1


Drago Matko, Gregor Klancar, Saso Blazic, Olivier Simonin, Franck Gechter, et al.. The Application of Reference-path Control to Vehicle Platoons. 5th International Conference on Informatics in Control, Automation and Robotics - ICINCO 2008, May 2008, Madeira, Portugal. ⟨inria-00338639⟩



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