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.
Title
Local Graph-based Distributed Control for Safe Highway Platooning
Published in
Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems
Series
IEEE International Conference on Intelligent Robots and Systems
Pages
6070-6076
Conference
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010
Date
2010
Publisher
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa
Record creation date
2010-10-25