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Author (up) Escobar, C.; Vargas, F.J.; Peters, A.A.; Carvajal, G. doi  openurl
  Title A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements Type
  Year 2023 Publication Mathematics Abbreviated Journal Mathematics  
  Volume 11 Issue 4 Pages 801  
  Keywords multi-agent systems; path-following; experimental platform; vehicle platooning; MIMO control  
  Abstract This paper uses a line-following approach to study the longitudinal and lateral problems in vehicle platooning. Under this setup, we assume that inter-vehicle distance sensing is unreliable and propose a cooperative control strategy to render the platoon less vulnerable to these sensing difficulties. The proposed control scheme uses the velocity of the predecessor vehicle, communicated through a Vehicle-to-Vehicle technology, to avoid significant oscillations in the local speed provoked by tracking using unreliable local distance measurements. We implement the proposed control algorithm in the RUPU platform, a low-cost experimental platform with wireless communication interfaces that enable the implementation of cooperative control schemes for mobile agent platooning. The experiments show the effectiveness of the proposed cooperative control scheme in maintaining a suitable performance even when subject to temporal distortions in local measurements, which, in the considered experimental setup, arise from losing the line-of-sight of the local sensors in paths with closed curves.  
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  Series Volume Series Issue Edition  
  ISSN 2227-7390 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000941648500001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1742  
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