Nonlinear Control for Urban Vehicles Platooning, Relying upon a Unique Kinematic GPS

In order to solve problems of traffic saturation in cities, new alternative†Urban Transportation Systems†are based on electric vehicles in free-access. One necessary functionality of such systems is their ability to move in a platoon fashion. Platooning of these automatic guided vehicles,...

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Bibliographic Details
Main Authors: Bom, J., Thuilot, B., Marmoiton, F., Martinet, P.
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Automatic Guided Vehicles
Cities and towns
Communication system control
Communication system traffic control
Control theory
Electric vehicles
Global Positioning System
Kinematics
mobile robots
Monitoring
nonlinear control
platooning
RTK GPS
Transportation
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Summary:In order to solve problems of traffic saturation in cities, new alternative†Urban Transportation Systems†are based on electric vehicles in free-access. One necessary functionality of such systems is their ability to move in a platoon fashion. Platooning of these automatic guided vehicles, relying on RTK-GPS sensors and inter-vehicles communication, is addressed in this paper. More precisely, vehicles platoon is expected to follow a curved reference path. Relying on nonlinear control theory, lateral and longitudinal control are fully decoupled, and therefore addressed independently. To ensure passengers comfort, additional monitoring functions supervise our control system. Then, simulations followed by experiments carried out with urban vehicles, are presented.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570755