Local Graph-based Distributed Control for Safe Highway Platooning

• Presented at: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010
• Published in: Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, p. 6070-6076
• Series: IEEE International Conference on Intelligent Robots and Systems
• Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa, 2010

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a system of several vehicles as well as a collision avoidance mechanism. The stability of our approach is supported by a mathematical analysis as well as realistic simulations.

Keywords: intelligent vehicles ; distributed control ; graph theory

Reference

• EPFL-CONF-153681
• doi:10.1109/IROS.2010.5649318
• View record in Web of Science

Record created on 2010-10-25, modified on 2012-03-20