To improve the platoon's passability and traffic efficiency, a cooperative lane change approach is proposed when the platoon encounters a slow obstacle vehicle ahead in this paper. The algorithm is designed for the heterogeneous platoon, that is, the vehicles are dynamically decoupled and have different parameters. The vehicles in the platoon can have different communication topologies. To complete the lane change process quickly, all vehicles in the platoon perform simultaneously. The approach is mainly divided into two parts: trajectory planning and cooperative control. In the trajectory planning part, combined with the polynomial method and the optimization method, the leading vehicle plans an optimal lane change trajectory according to its own states and the obstacle vehicle's states. A distributed model predictive control algorithm is designed in the cooperative control part to meet the requirement that all vehicles should change lanes simultaneously. Besides, the sufficient conditions to achieve the asymptotic stability are also given, and the simulation results can show the effectiveness of the algorithm.
ZENO behavior in behavior-based system, which is two or more deterministic behaviors make infinite number of discrete transitions in finite time, can cause the motion speed and rotational velocity of the mobile robot change precipitately. Furthermore, the sharp shift of different behaviors will even exacerbate the absolute position errors. This paper present a new collision avoidance algorithm based on hybrid zeno behavior automaton which can eliminate the negative effect of the sharp shift of different behaviors. The core theoretical foundations on designing of the Compound Zeno Behavior in hierarchical hybrid behaviors are presented, including the definitions of different type of behaviors and some theorems, which prove the feasibility of the algorithm. After that, the paper focuses on producing emergency behaviors that lead the mobile robot navigation around the obstacles without sharp shift of different behaviors. Simulation results illustrate the good performance of the control algorithms.Index Terms -mobile robot. navigation. fuzzy-reasoning. behavior-based control. ZENO behavior.
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