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    Merging Strategy for Vehicles by Applying Cooperative Tracking Control

    Merging Strategy for Vehicles by Applying Cooperative Tracking Control


    This work presents a merging strategy for cooperative vehicles. In the proposed strategy, each vehicle possesses a tracking controller that considerers both tracking and coupling error signals, where all vehicles in the group know their positions. The trajectories of the cooperative vehicles are developed, to guarantee that each vehicle keeps a certain distance from the rest of the vehicles in the group, and are designed by using the virtual structure approach. The merging strategy is successfully validated in an experimental setup consisting of a group of nonholonomic mobile vehicles that represents the simplest bicycle model for cars with a zero vehicle length. It is shown using Lyapunov theory that this strategy is global asymptotically stable for the group.

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    Titel :

    Merging Strategy for Vehicles by Applying Cooperative Tracking Control

    Beteiligte:
    Morales, America (Autor:in) / Nijmeijer, Henk
    Erschienen in:

    IEEE transactions on intelligent transportation systems ; 17 , 12

    Erscheinungsdatum :

    2016

    ISSN :

    1524-9050

    DOI :

    https://doi.org/10.1109/TITS.2016.2553099

    Medientyp :

    Aufsatz (Zeitschrift)

    Format :

    Print

    Sprache :

    Englisch

    Schlagwörter :

    Zeitschrift , Verkehrsleitsystem , Transport

    Klassifikation :

    BKL:    55.84 / 55.24 / 55.84 Straßenverkehr / 55.24 Fahrzeugführung, Fahrtechnik

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