The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 26-202
Full Name: Plamen Petrov
Position: Doctor (Researcher)
Age: ON
Sex: Male
Address: 59-v, Bld. Skobelev , 1606 Sofia
Country: BULGARIA
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E-mail address: pp.petrov@abv.bg
Other E-mails: ppetrov@tu-sofia.bg
Title of the Paper: A Mathematical Model for Control of an Autonomous Vehicle Convoy
Authors as they appear in the Paper: Plamen Petrov
Email addresses of all the authors: pp.petrov@abv.bg,ppetrov@tu-sofia.bg
Number of paper pages: 14
Abstract: This paper describes the modeling of a two-vehicle convoy and the design of a vehicle following controller that tracks the trajectory of the vehicle ahead with prescribed inter-vehicle distance. Kinematic equations of the system are formulated applying standard robotic methodology. We consider autonomous vehicle following without any information obtained from road infrastructure or communicated from the lead vehicle. Assuming that the leader linear and angular velocities, as well the curvature radius of the path traveled by the lead vehicle, are unknown constant parameters, an adaptive tracking controller is proposed. With only the current inter-vehicle relative position and orientation available for feedback control, the control velocities of the following vehicle are computed using the leader velocity estimates obtained from the dynamic (adaptive) part of the proposed controller. For constant velocity maneuvers of the leader, at steady state, the two-vehicle con!
voy will travel concentric arcs of same radii with prescribed inter-vehicle spacing. For time-varying lead vehicle velocities, the proposed controller achieves ultimate boundness of the closed-loop system in error coordinate. Various simulation results demonstrating the performance of the controller are included.
Keywords: Autonomous vehicle convoy, Vehicle following, Vehicle Kinematic model, Nonlinear adaptive control
EXTENSION of the file: .pdf
Special (Invited) Session: Nonlinear Adaptive Control of a Two-Vehicle Autonomous Convoy Using a Look-Ahead Approach
Organizer of the Session: 575-268
How Did you learn about congress: E395HKD45NDV4-2008-ENGLAND-pp.petrov@abv.bg
IP ADDRESS: 85.196.144.28
