Serpentine-an intelligent urban transportation system for passengers, with autonomous, mobile robot properties

Serpentine is a concept for a flexible public transportation system which can adapt to passenger demand in a city environment. Schematically, it includes a static component-track on ground, communication stations, central control system and distributed power management units; and a dynamic one-small 4 to 5 person capacity vehicles, which can autonomously move through the network, either independently from one another, or as adaptive, temporary convoys when higher flow density is required. Among new developments, the paper reports on additional constraints to be met when multiple axes are simultaneously active. New internal variables need be observed and taken care of. The paper also reports on an integrated method, implying multiple time bases, to combine convoy head decisions and individual following car strategies. Discussion is then made of alternate designs in terms of motorization, embedded control resources, and various other elements