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Authors: Drago Matko 1 ; Gregor Klancǎr 1 ; Sasǒ Blažič 1 ; Olivier Simonin 2 ; Franck Gechter 3 ; Jean-Michel Contet 3 and Pablo Gruer 3

Affiliations: 1 Faculty of electrical engineering University of Ljubljana, Slovenia ; 2 lab: LORIA Maia project, University of Henri Poincare, France ; 3 Systems and Transportation Laboratory (SET), University of Technology of Belfort-Montbéliard (UTBM), France

ISBN: 978-989-8111-31-9

Keyword(s): Platoon, reactive multiagent, longitudinal and lateral control, reference-path following control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. The platooning vehicles have non-holonomic constraints. The following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. The reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. The parameters of the polynominals are determined using the least-squares method. This parametric reference path is also used to determine the feed-forward part of the applied control algorithm. The feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orienta tion error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons. (More)

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Paper citation in several formats:
Matko D.; Klancǎr G.; Blažič S.; Simonin O.; Gechter F.; Contet J.; Gruer P. and (2008). THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 145-150. DOI: 10.5220/0001476801450150

@conference{icinco08,
author={Drago Matko and Gregor Klancǎr and Sasǒ Blažič and Olivier Simonin and Franck Gechter and Jean{-}Michel Contet and Pablo Gruer},
title={THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={145-150},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001476801450150},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - THE APPLICATION OF REFERENCE-PATH CONTROL TO VEHICLE PLATOONS
SN - 978-989-8111-31-9
AU - Matko, D.
AU - Klancǎr, G.
AU - Blažič, S.
AU - Simonin, O.
AU - Gechter, F.
AU - Contet, J.
AU - Gruer, P.
PY - 2008
SP - 145
EP - 150
DO - 10.5220/0001476801450150

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