Impedance control for a vehicle platoon system

Yi, Soo-Yeong; Chong, Kil-To

doi:10.1016/j.mechatronics.2004.12.002

Cited by 53 publications

(17 citation statements)

References 10 publications

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“…Multiple mobile robots accomplished a real-time plan to follow a generated trajectory while avoiding obstacles and avoiding or cooperating with other robots [13]. Similarly, impedance control methods for a vehicle platoon system [14] and the behavior control of a vehicle using a virtual spring and damper in order to follow a vehicle in front of them [15] have been proposed. These methods have, however, focused on a position control that is based on an external force, i.e., impedance for collision avoidance and object following among the robots, vehicles, and obstacles, rather than congestion.…”

Section: B Proposed Behavior Control Methodsmentioning

confidence: 99%

Behavior control methodology for circulating robots in flexible batch manufacturing systems experiencing bottlenecks

Hoshino

Seki

Naka

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper focuses on an automated batch manufacturing system with material-handling robots (MHRs) and material-processing robots (MPRs). In this robotic manufacturing system, materials transported by the MHRs are processed by the MPRs. These operations cause a bottleneck in the system. Furthermore, the bottleneck induces congestion of the MHRs. In the system, the effect of an operational delay due to bottlenecks affects the entire operation. Accordingly, there is an event in which the congestion extends and the system throughput not only fails to increase but also may become worse, even if more robots are used to improve the productivity. For this challenge, we propose a behavior control method for the MHRs to eliminate or ease the congestion that arises from a bottleneck. Each MHR controls its own behavior adequately by using the external force of a virtual damper in order not to become involved in the congestion. Finally, through a simulation experiment, we show that the proposed control method improves the system throughput and its effectiveness for a more efficient system operation.

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Section: B Proposed Behavior Control Methodsmentioning

confidence: 99%

Behavior control methodology for circulating robots in flexible batch manufacturing systems experiencing bottlenecks

Hoshino

Seki

Naka

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…This property makes the stability analysis virtually independent of the number of vehicles. The complexity problem in determining the stability of a quasi-polynomial such as (17) is now shifted to find out the eigenvalues of a known matrix C and the repeated stability analysis over a very simple quasi polynomial as in (21).…”

Section: Stability Analysismentioning

confidence: 99%

Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

Ghasemi

Rouhi

2015

PROMET

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“…The leading car firstly accelerates to 60km/h with the acceleration of 10m/s 2 , and then decelerates to 40km/h with the acceleration of -10 m/s 2 . The experiment compares the present method with the classical PD control method and a fixed spring damper coefficient method 11 .…”

Section: Platoon Simulation Examplementioning

confidence: 99%

CyberTORCS: An Intelligent Vehicles Simulation Platform for Cooperative Driving

Yang¹,

Wan²,

Wang³

et al. 2011

IJCIS

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Simulation platforms play an important role in helping intelligent vehicle research, especially for the research of cooperative driving due to the high cost and risk of the real experiments. In order to ease and bring more convenience for cooperative driving tests, we introduce an intelligent vehicle simulation platform, called CyberTORCS, for the research in cooperative driving. Details of the simulator modules including vehicle body control, vehicle visualization modeling and track visualization modeling are presented. Two simulation examples are given to validate the feasibility and effectiveness of the proposed simulation platform.

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Impedance control for a vehicle platoon system

Cited by 53 publications

References 10 publications

Behavior control methodology for circulating robots in flexible batch manufacturing systems experiencing bottlenecks

Behavior control methodology for circulating robots in flexible batch manufacturing systems experiencing bottlenecks

Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

CyberTORCS: An Intelligent Vehicles Simulation Platform for Cooperative Driving

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