Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises

Bas G.L. Meere; Baris Fidan; W.P.M.H. Heemels

doi:10.1016/j.ifacol.2023.10.459

Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises

Bas G.L. Meere (Corresponding author), Baris Fidan (Corresponding author), W.P.M.H. Heemels (Corresponding author)

Research output: Contribution to journal › Conference article › peer-review

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Abstract

This paper studies formation control of multi-lane platoons of vehicles, endowed with local positioning capabilities, under the influence of noises and inconsistencies of intervehicle relative position measurements. We propose a distributed two-level control framework that consists of a high-level relative position based distributed formation control scheme and low-level individual dynamic controllers of the platoon vehicles. The proposed formation control scheme utilizes deadzone based switching for robustness against sensor noises and adaptive longitudinal controllers for enabling the platoon of heterogeneous vehicles to track the desired platoon velocity.

Original language	English
Pages (from-to)	5573-5578
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	56
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.459
Publication status	Published - 1 Jul 2023
Event	22nd World Congress of the International Federation of Automatic Control (IFAC 2023 World Congress) - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023 Conference number: 22 https://www.ifac2023.org/

Keywords

Cooperative navigation
multi-vehicle systems
multi-agent systems

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10.1016/j.ifacol.2023.10.459

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title = "Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises",

abstract = "This paper studies formation control of multi-lane platoons of vehicles, endowed with local positioning capabilities, under the influence of noises and inconsistencies of intervehicle relative position measurements. We propose a distributed two-level control framework that consists of a high-level relative position based distributed formation control scheme and low-level individual dynamic controllers of the platoon vehicles. The proposed formation control scheme utilizes deadzone based switching for robustness against sensor noises and adaptive longitudinal controllers for enabling the platoon of heterogeneous vehicles to track the desired platoon velocity.",

keywords = "Cooperative navigation, multi-vehicle systems, multi-agent systems",

author = "Meere, {Bas G.L.} and Baris Fidan and W.P.M.H. Heemels",

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doi = "10.1016/j.ifacol.2023.10.459",

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Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises. / Meere, Bas G.L. (Corresponding author); Fidan, Baris (Corresponding author); Heemels, W.P.M.H. (Corresponding author).
In: IFAC-PapersOnLine, Vol. 56, No. 2, 01.07.2023, p. 5573-5578.

Research output: Contribution to journal › Conference article › peer-review

TY - JOUR

T1 - Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises

AU - Meere, Bas G.L.

AU - Fidan, Baris

AU - Heemels, W.P.M.H.

N1 - Conference code: 22

PY - 2023/7/1

Y1 - 2023/7/1

N2 - This paper studies formation control of multi-lane platoons of vehicles, endowed with local positioning capabilities, under the influence of noises and inconsistencies of intervehicle relative position measurements. We propose a distributed two-level control framework that consists of a high-level relative position based distributed formation control scheme and low-level individual dynamic controllers of the platoon vehicles. The proposed formation control scheme utilizes deadzone based switching for robustness against sensor noises and adaptive longitudinal controllers for enabling the platoon of heterogeneous vehicles to track the desired platoon velocity.

AB - This paper studies formation control of multi-lane platoons of vehicles, endowed with local positioning capabilities, under the influence of noises and inconsistencies of intervehicle relative position measurements. We propose a distributed two-level control framework that consists of a high-level relative position based distributed formation control scheme and low-level individual dynamic controllers of the platoon vehicles. The proposed formation control scheme utilizes deadzone based switching for robustness against sensor noises and adaptive longitudinal controllers for enabling the platoon of heterogeneous vehicles to track the desired platoon velocity.

KW - Cooperative navigation

KW - multi-vehicle systems

KW - multi-agent systems

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DO - 10.1016/j.ifacol.2023.10.459

M3 - Conference article

SN - 2405-8963

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SP - 5573

EP - 5578

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T2 - 22nd World Congress of the International Federation of Automatic Control (IFAC 2023 World Congress)

Y2 - 9 July 2023 through 14 July 2023

ER -

Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises

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Keywords

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