Near-to-near decentralized algorithm for vehicle platooning

Jano Yazbeck (1) , Alexis Scheuer (1) , François Charpillet (1)

1 MAIA - Autonomous intelligent machine

In the last decades, intelligent transportation sys- tems noticed an important evolution due to the introduction of intelligent electric vehicles. This paper deals with the platooning problem, a technique which aims at steering a convoy along a path without collision nor lateral deviation. This work focuses on the lateral control in a local decentralized approach. We present here two control algorithms for platooning which aim at reducing the lateral deviation between the leader's and each of the followers' paths. Experimental results show an improvement in the lateral behavior of the followers.

Domaines: Robotique [cs.RO]

Jano Yazbeck, Alexis Scheuer, François Charpillet. Near-to-near decentralized algorithm for vehicle platooning. 8th National Conference on Control Architecture of Robots, Jun 2013, Angers, France. ⟨hal-00957511⟩