Samenvatting
In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.
Originele taal-2 | Engels |
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Pagina's (van-tot) | 15294-15299 |
Aantal pagina's | 6 |
Tijdschrift | IFAC-PapersOnLine |
Volume | 53 |
Nummer van het tijdschrift | 2 |
DOI's | |
Status | Gepubliceerd - 1 jul. 2020 |
Evenement | 21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Duitsland Duur: 12 jul. 2020 → 17 jul. 2020 Congresnummer: 21 https://www.ifac2020.org/ |