THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS

Drago Matko, Gregor Klancǎr, Sasǒ Blažič, Olivier Simonin, Franck Gechter, Jean-Michel Contet, Pablo Gruer

2008

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.

Paper Citation

in Harvard Style

Matko D., Klancǎr G., Blažič S., Simonin O., Gechter F., Contet J. and Gruer P. (2008). THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 145-150. DOI: 10.5220/0001476801450150

in Bibtex Style

@conference{icinco08,
author={Drago Matko and Gregor Klancǎr and Sasǒ Blažič and Olivier Simonin and Franck Gechter and Jean-Michel Contet and Pablo Gruer},
title={THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={145-150},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001476801450150},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS
SN - 978-989-8111-31-9
AU - Matko D.
AU - Klancǎr G.
AU - Blažič S.
AU - Simonin O.
AU - Gechter F.
AU - Contet J.
AU - Gruer P.
PY - 2008
SP - 145
EP - 150
DO - 10.5220/0001476801450150