Overview on Modeling for Control of Autonomous Road Vehicles Platoon

Nacer M’Sirdi, Abdelhak Dahmani, Habib Nasser


This is an overview on the models used to control fleets of road vehicles. In general, simplified vehicle models are used and their coupling features are introduced through the (individual) controllers. The robustness and precision of motion control needs geometric, kinematic and dynamic descriptions. We propose a modeling methodology for robots platooning to introduce specific features in the platoon behavior. This overview proposes reference models to link the fleet vehicles and assign a character to the group independent from control.


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