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.
Titre
Local Graph-based Distributed Control for Safe Highway Platooning
Publié dans
Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems
Série
IEEE International Conference on Intelligent Robots and Systems
Pages
6070-6076
Présenté à
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010
Date
2010
Editeur
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa
Date de création de la notice
2010-10-25