Decentralized Platooning With Obstacle Avoidance for Car-Like Vehicles With Limited Sensing

Giannis Delimpaltadakis; Charalampos P. Bechlioulis; Kostas J. Kyriakopoulos

doi:10.1109/LRA.2018.2793340

Decentralized Platooning With Obstacle Avoidance for Car-Like Vehicles With Limited Sensing

Giannis Delimpaltadakis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Contribution to journal › Article › Academic › peer-review

37 Citations (Scopus)

Abstract

In this letter, we consider the predecessor-following control problem for a platoon of car-like vehicles moving on a planar surface with cyclic obstacles. Each vehicle is equipped with an on-board camera that detects its preceding vehicle, and a laser scanner that detects the obstacles around it. Within this framework, we design a fully decentralized control scheme, in the sense that each vehicle calculates its own control signal incorporating only local information, acquired by its on-board camera and laser scanner. Collisions with obstacles, collisions between successive vehicles and connectivity breaks owing to the limited field of view of the camera as well as to visual occlusions raised by static obstacles are provably avoided. Moreover, the transient and steady-state response of the closed-loop system is a priori determined by certain designer-specified functions and is fully decoupled by the number of vehicles in the platoon and the control gains selection. Finally, a simulation study is carried out in MATLAB and Coppelia Robotics V-REP to prove the control protocol's efficiency.

Original language	English
Article number	8258896
Pages (from-to)	835-840
Number of pages	6
Journal	IEEE Robotics and Automation Letters
Volume	3
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2018.2793340
Publication status	Published - 1 Apr 2018
Externally published	Yes

Bibliographical note

Funding Information:
Manuscript received September 10, 2017; accepted December 22, 2017. Date of publication January 15, 2018; date of current version January 25, 2018. This letter was recommended for publication by Associate Editor S. J. Guy and Editor N. Amato upon evaluation of the reviewers’ comments. The work of C. P. Bechlioulis was supported by the Onassis Foundation under Grant R ZM 005-1/2016-2017. (Corresponding author: Charalampos P. Bechlioulis.) The authors are with the National Technical University of Athens, Zografou 15780, Greece (e-mail: [email protected]; [email protected]. gr; [email protected]). Digital Object Identifier 10.1109/LRA.2018.2793340

Funding

Manuscript received September 10, 2017; accepted December 22, 2017. Date of publication January 15, 2018; date of current version January 25, 2018. This letter was recommended for publication by Associate Editor S. J. Guy and Editor N. Amato upon evaluation of the reviewers’ comments. The work of C. P. Bechlioulis was supported by the Onassis Foundation under Grant R ZM 005-1/2016-2017. (Corresponding author: Charalampos P. Bechlioulis.) The authors are with the National Technical University of Athens, Zografou 15780, Greece (e-mail: [email protected]; [email protected]. gr; [email protected]). Digital Object Identifier 10.1109/LRA.2018.2793340

Keywords

Cameras
Collision avoidance
Trajectory
Automobiles
Lasers
Decentralized control
Visualization

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10.1109/LRA.2018.2793340

Cite this

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title = "Decentralized Platooning With Obstacle Avoidance for Car-Like Vehicles With Limited Sensing",

abstract = "In this letter, we consider the predecessor-following control problem for a platoon of car-like vehicles moving on a planar surface with cyclic obstacles. Each vehicle is equipped with an on-board camera that detects its preceding vehicle, and a laser scanner that detects the obstacles around it. Within this framework, we design a fully decentralized control scheme, in the sense that each vehicle calculates its own control signal incorporating only local information, acquired by its on-board camera and laser scanner. Collisions with obstacles, collisions between successive vehicles and connectivity breaks owing to the limited field of view of the camera as well as to visual occlusions raised by static obstacles are provably avoided. Moreover, the transient and steady-state response of the closed-loop system is a priori determined by certain designer-specified functions and is fully decoupled by the number of vehicles in the platoon and the control gains selection. Finally, a simulation study is carried out in MATLAB and Coppelia Robotics V-REP to prove the control protocol's efficiency.",

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note = "Funding Information: Manuscript received September 10, 2017; accepted December 22, 2017. Date of publication January 15, 2018; date of current version January 25, 2018. This letter was recommended for publication by Associate Editor S. J. Guy and Editor N. Amato upon evaluation of the reviewers{\textquoteright} comments. The work of C. P. Bechlioulis was supported by the Onassis Foundation under Grant R ZM 005-1/2016-2017. (Corresponding author: Charalampos P. Bechlioulis.) The authors are with the National Technical University of Athens, Zografou 15780, Greece (e-mail: [email protected]; [email protected]. gr; [email protected]). Digital Object Identifier 10.1109/LRA.2018.2793340 ",

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N2 - In this letter, we consider the predecessor-following control problem for a platoon of car-like vehicles moving on a planar surface with cyclic obstacles. Each vehicle is equipped with an on-board camera that detects its preceding vehicle, and a laser scanner that detects the obstacles around it. Within this framework, we design a fully decentralized control scheme, in the sense that each vehicle calculates its own control signal incorporating only local information, acquired by its on-board camera and laser scanner. Collisions with obstacles, collisions between successive vehicles and connectivity breaks owing to the limited field of view of the camera as well as to visual occlusions raised by static obstacles are provably avoided. Moreover, the transient and steady-state response of the closed-loop system is a priori determined by certain designer-specified functions and is fully decoupled by the number of vehicles in the platoon and the control gains selection. Finally, a simulation study is carried out in MATLAB and Coppelia Robotics V-REP to prove the control protocol's efficiency.

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Decentralized Platooning With Obstacle Avoidance for Car-Like Vehicles With Limited Sensing

Abstract

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Keywords

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