Distributed Graph-Based Control of Convoys of Heterogeneous Vehicles using Curvilinear Road Coordinates

This paper investigates the problem of controlling a heterogeneous group of vehicles with the aim of forming multi-lane convoys. We use a distributed, graph-based control law, implemented in a longitudinal coordinate system parallel to the road. Each vehicle maintains a local graph with information from only nearby vehicles, in which the desired distances between vehicles are calculated dynamically. This allows for fast adaptation to the changes in the number of vehicles and their positions. We have also implemented a distributed mechanism that allows vehicles to change lane in a cooperative way within the convoy. Systematic experiments have been carried out in a high-fidelity simulator in order to show the performance of the proposed control law.


Published in:
2016 Ieee 19Th International Conference On Intelligent Transportation Systems (Itsc), 879-886
Presented at:
2016 IEEE Intelligent Transportation Systems Conference, Rio de Janeiro, Brazil, November 1-4, 2016
Year:
2016
Publisher:
New York, Ieee
ISBN:
978-1-5090-1889-5
Laboratories:




 Record created 2016-09-16, last modified 2018-03-17

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