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
* Auteur correspondant
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.
Type de document :
Communication dans un congrès
5th International Conference on Informatics in Control, Automation and Robotics - ICINCO 2008, May 2008, Madeira, Portugal. 2008
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https://hal.inria.fr/inria-00338639
Contributeur : Olivier Simonin <>
Soumis le : jeudi 13 novembre 2008 - 18:00:45
Dernière modification le : jeudi 11 janvier 2018 - 06:19:50

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  • HAL Id : inria-00338639, version 1

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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. 2008. 〈inria-00338639〉

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