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

Abstract

Index Terms-mobile robots, nonlinear control, platooning, Automatic Guided Vehicles, RTK GPS.Abstract-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.

Multi-Sensor Fusion for Mono and Multi-Vehicle Localization using Bayesian Network

“…The tricycle model allows us to manipulate the curvilinear distance instead of rectilinear distance. The main advantage of curvilinear distance is that it agrees with the distance travelled and is perfectly consistent when following reference paths with high curvature (which is not the case with rectilinear distance) (Bom et al, 2005). Using curvilinear distance allows us to reduce the difference between follower's trajectory and leader's one.…”

“…Since no approximation is achieved, performances provided by the nonlinear control law are more satisfactory and more robust than those offered by linear control. This control approach allows to fully decouple longitudinal and lateral controls (Bom et al, 2005). This book offers in 27 chapters a collection of all the technical aspects of specifying, developing, and evaluating the theoretical underpinnings and applied mechanisms of AI tools.…”

“…An example of robotised vehicle is the CyCab (Bom et al, 2005). Transport applications which can combine mono or multi vehicle operating mode are most efficient.…”

“…In the literature, we found two ways to make moving a train of vehicles. The first one proposes to use an inter-vehicles communication (Bom et al, 2005). The second approach proposes to not use any communication support and to make moving vehicles near-by-near (Daviet & Parent).…”

Navigation of multi-robot formation in unstructured environment using dynamical virtual structures

“…Many examples of multi-robot applications can be cited: pushing a heavy object [1], remover task [2], keeping a formation for AUV (Autonomous Underwater Vehicles) [3], management and platooning of autonomous vehicles [4], [5], etc. However, the coordination of multi-robot is still among the most challenging tasks.…”