Distance‐based formation control for multi‐lane autonomous vehicle platoons

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Abstract This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance‐based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into...

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Bibliographic Details
Main Authors: Yajun Zheng, Qingling Wang, Dongpu Cao, Baris Fidan, Changyin Sun
Format: Article
Language:English
Published: Wiley 2021-07-01
Series:IET Control Theory & Applications
Subjects:
Spatial variables control
Velocity, acceleration and rotation control
Road-traffic system control
Mobile robots
Vehicle mechanics
Control system analysis and synthesis methods
Online Access:https://doi.org/10.1049/cth2.12139

Internet

https://doi.org/10.1049/cth2.12139

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