Decentralized local approach for lateral control of platoons

Jano Yazbeck 1
1 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : This paper deals with platooning problem that aims to steer a train of vehicles along a trajectory. Many techniques were developed in this field, but they presented several inconveniences. On one side, a centralized control requires communication between vehicles: any data loss may prevent the correct behavior of the vehicles. On the other side, a decentralized control is more robust as each vehicle is autonomous, but trajectory tracking is less precise (the followers may deviate and cut the corners). This paper studies the lateral control and proposes a decentralized local approach, that improves the platooning performance specially along corners. It memorizes the positions describing the trajectory of a vehicle. Then, the follower tends to follow this trajectory, not the preceding vehicle itself. In other terms, the lateral controller will have as input the suitable position of the trajectory that is closest to the follower.
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Rapport
[Intership report] 2010
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Jano Yazbeck. Decentralized local approach for lateral control of platoons. [Intership report] 2010. 〈inria-00547567〉

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