1. An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment
- Author
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Olivier Kermorgant, Ahmed Khalifa, Philippe Martinet, Salvador Dominguez, École Centrale de Nantes (ECN), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (LS2N - équipe ARMEN), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Robots collaboratifs et hétérogènes interagissant dans des environnements vivants (CHORALE), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), The work presented in this paper is carried out in theframework of the Valet project, reference ANR-15-CE22-0013-02., Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (ARMEN), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)
- Subjects
0209 industrial biotechnology ,Observer (quantum physics) ,Computer science ,020208 electrical & electronic engineering ,String (computer science) ,Control (management) ,Control engineering ,02 engineering and technology ,Aerodynamics ,Motion control ,Traffic flow ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Vehicle dynamics ,Acceleration ,020901 industrial engineering & automation ,11. Sustainability ,0202 electrical engineering, electronic engineering, information engineering ,Platoon - Abstract
International audience; In this paper, we study longitudinal motion controlof car-like vehicles platoon navigating in an urban environmentwith minimum communication links. To achieve a higher trafficflow, a constant-spacing policy between successive vehicles iscommonly used but this is at a cost of an increased number ofcommunication links as any vehicle information must broadcastto all its followers. Therefore, we propose a distributed observer-based control law that depends both on communicated andmeasured information. Our formulation allows designing thecontrol law directly in the curvilinear coordinates. Internal andstring stability analysis are conducted. We provide simulationresults, through dynamic vehicular mobility simulator, to illus-trate the feasibility of the proposed approach and corroborate our theoretical findings.
- Published
- 2019