A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements

Carlos Escobar, Francisco J. Vargas (), Andrés A. Peters and Gonzalo Carvajal
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Carlos Escobar: Departamento de Electrónica, Universidad Técnica Federico Santa María, Valparaíso 2390123, Chile
Francisco J. Vargas: Departamento de Electrónica, Universidad Técnica Federico Santa María, Valparaíso 2390123, Chile
Andrés A. Peters: Faculty of Engineering and Sciences, Universidad Adolfo Ibáñez, Santiago 7941169, Chile
Gonzalo Carvajal: Departamento de Electrónica, Universidad Técnica Federico Santa María, Valparaíso 2390123, Chile

Mathematics, 2023, vol. 11, issue 4, 1-18

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.

Keywords: multi-agent systems; path-following; experimental platform; vehicle platooning; MIMO control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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