Local Graph-based Distributed Control for Safe Highway Platooning

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.


Published in:
Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, 6070-6076
Presented at:
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010
Year:
2010
Publisher:
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa
Keywords:
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 Record created 2010-10-25, last modified 2018-09-13

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