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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Carlos Escobar & Francisco J. Vargas & Andrés A. Peters & Gonzalo Carvajal, 2023. "A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements," Mathematics, MDPI, vol. 11(4), pages 1-18, February.
  • Handle: RePEc:gam:jmathe:v:11:y:2023:i:4:p:801-:d:1058079
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    References listed on IDEAS

    as
    1. Pedro Bautista-Camino & Alejandro I. Barranco-Gutiérrez & Ilse Cervantes & Martin Rodríguez-Licea & Juan Prado-Olivarez & Francisco J. Pérez-Pinal, 2022. "Local Path Planning for Autonomous Vehicles Based on the Natural Behavior of the Biological Action-Perception Motion," Energies, MDPI, vol. 15(5), pages 1-23, February.
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    Cited by:

    1. Felipe I. Villenas & Francisco J. Vargas & Andrés A. Peters, 2023. "Exploring the Role of Sampling Time in String Stabilization for Platooning: An Experimental Case Study," Mathematics, MDPI, vol. 11(13), pages 1-18, June.

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