Kinematic Control of Platoons of Autonomous Vehicles

Author

Antonelli, Gianluca ; Chiaverini, Stefano

Author_Institution

DAEIMI, Univ. degli Studi di Cassino

Volume

22

Issue

6

fYear

2006

Firstpage

1285

Lastpage

1292

Abstract

In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies

Keywords

mobile robots; motion control; multi-robot systems; robot kinematics; vehicles; autonomous vehicle platoon; intervehicle communication; kinematic control; motion control; numerical simulation case studies; singularity-robust task-priority inverse kinematics; suitable task functions; two-stage control architecture; Centralized control; Communication system control; Control systems; Mobile robots; Motion control; Multirobot systems; Numerical simulation; Remotely operated vehicles; Robot kinematics; Shape control; Closed-loop inverse kinematics; formation control; multirobot systems; platoon of vehicles;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2006.886272

Filename

4020351