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Global Estimation for the Convoy of Autonomous Vehicles using the Sliding-mode Approach

Topics: Control and Supervision Systems; Engineering Applications; Engineering Applications on Robotics and Automation; Intelligent Transportation Technologies and Systems; Mobile Robots and Autonomous Systems; Nonlinear Signals and Systems; Real-Time Systems Control; Sensors Fusion; Vehicle Control Applications; Vision, Recognition and Reconstruction

Authors: M-Mahmoud Mohamed-Ahmed ; Aziz Naamane and Nacer K. M’sirdi

Affiliation: Aix Marseille University, University of Toulon, CNRS, LIS UMR, Marseille, France

Keyword(s): Autonomous Vehicles, Convoy, State Estimation, First-Order Sliding Mode Observer, Second-Order Sliding Mode Observer, Inter-distance Estimation.

Abstract: In this paper, a global estimation approach is proposed to estimate the states of motion (longitudinal, lateral and yaw angle) of a convoy of autonomous vehicles, which is composed of four cars and also the inter-distance between each two neighboring vehicles. The approach used is based on the first-order sliding mode (FOSM) and second-order sliding mode (SOSM) observer without and with linear gain (FOSML and SOSML), to estimate and compare at the same time the estimation approach used for each vehicle in convoy. To validate this approach, we use data from SCANeRTM-Studio of a convoy moving in a defined trajectory. The robustness of the observers towards estimation errors on the model parameters will be studied.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Mohamed-Ahmed, M.; Naamane, A. and M’sirdi, N. (2020). Global Estimation for the Convoy of Autonomous Vehicles using the Sliding-mode Approach. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 284-293. DOI: 10.5220/0009805702840293

@conference{icinco20,
author={M{-}Mahmoud Mohamed{-}Ahmed. and Aziz Naamane. and Nacer K. M’sirdi.},
title={Global Estimation for the Convoy of Autonomous Vehicles using the Sliding-mode Approach},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={284-293},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009805702840293},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Global Estimation for the Convoy of Autonomous Vehicles using the Sliding-mode Approach
SN - 978-989-758-442-8
IS - 2184-2809
AU - Mohamed-Ahmed, M.
AU - Naamane, A.
AU - M’sirdi, N.
PY - 2020
SP - 284
EP - 293
DO - 10.5220/0009805702840293
PB - SciTePress