TY - GEN
T1 - Decentralized 2-D control of vehicular platoons under limited visual feedback
AU - Verginis, Christos K.
AU - Bechlioulis, Charalampos P.
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense that each vehicle calculates its own control signal based solely on local information regarding its preceding vehicle, by its on-board camera, without incorporating any velocity measurements. Additionally, the transient and steady state response is a priori determined by certain designer-specified performance functions and is fully decoupled by the number of vehicles composing the platoon and the control gains selection. Moreover, collisions between successive vehicles as well as connectivity breaks, owing to the limited field of view of cameras, are provably avoided. Finally, an extensive simulation study is carried out in the WEBOTSTM realistic simulator, clarifying the proposed control scheme and verifying its effectiveness.
AB - In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense that each vehicle calculates its own control signal based solely on local information regarding its preceding vehicle, by its on-board camera, without incorporating any velocity measurements. Additionally, the transient and steady state response is a priori determined by certain designer-specified performance functions and is fully decoupled by the number of vehicles composing the platoon and the control gains selection. Moreover, collisions between successive vehicles as well as connectivity breaks, owing to the limited field of view of cameras, are provably avoided. Finally, an extensive simulation study is carried out in the WEBOTSTM realistic simulator, clarifying the proposed control scheme and verifying its effectiveness.
KW - Cameras
KW - Protocols
KW - Robot sensing systems
KW - Steady-state
KW - Transient analysis
KW - Vehicles
KW - Visualization
UR - http://www.scopus.com/inward/record.url?scp=84958184407&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958184407&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353875
DO - 10.1109/IROS.2015.7353875
M3 - Conference contribution
AN - SCOPUS:84958184407
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3566
EP - 3571
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -