Trajectory duplication using relative position information for automated ground vehicle convoys

A strategy to enhance the accuracy of path following for autonomous ground vehicles in a convoy is presented. GPS carrier measurements are used to estimate relative position with sub-two centimeter accuracy and a change in position to millimeter accuracy. These estimates are used in conjunction with three methods presented that enable a following vehicle to replicate a lead vehiclepsilas path of travel while both are in motion and not in sight of one another. Accuracies of the methods achieved in simulation are shown with discussion on the benefits and shortcomings of each method. Simulation results show a 1.6 meter error at a 50 m following distance. Discussion explains the inaccuracies are due to the limitations inherent in the selected vehicle controller and not necessarily in the trajectory duplication methods.