DocumentCode
3295899
Title
Local graph-based distributed control for safe highway platooning
Author
Gowal, Sven ; Falconi, Riccardo ; Martinoli, Alcherio
Author_Institution
Distrib. Intell. Syst. & Algorithms Lab., Ecole Polytech. Fed. de Lausanne, Lausanne, Switzerland
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
6070
Lastpage
6076
Abstract
Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a system of several vehicles as well as a collision avoidance mechanism. The stability of our approach is supported by a mathematical analysis as well as realistic simulations.
Keywords
distributed parameter systems; graph theory; mathematical analysis; position control; road vehicles; collision avoidance mechanism; graph theory; lateral controller; local graph-based distributed control; local positioning capabilities; longitudinal controller; mathematical analysis; safe highway platooning; stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5649318
Filename
5649318
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