TY - GEN
T1 - Coupled lateral and lane separation control for 2-D vehicle groups
AU - Men, Hao
AU - Pochiraju, Kishore
PY - 2008
Y1 - 2008
N2 - This paper describes control methodologies for a group of coordinated ground vehicles in which a single lead vehicle is assumed to be autonomous and the rest followers in a two-dimensional formation. The lead vehicle can be in any position of the group. Speed (throttle) and steering controllers are deployed in the follower vehicles which utilize only two parameters for position sensing. A minimum (safe) separation distance for vehicles following in lane (lane separation) and for those traveling abreast (lateral separation). Several sample missions, including lane following, square formations in right turns and lap runs are used to determine the performance of the controller for a four vehicle group. The variations in both lane and lateral separations during the mission are monitored as the primary measure of the controller performance.
AB - This paper describes control methodologies for a group of coordinated ground vehicles in which a single lead vehicle is assumed to be autonomous and the rest followers in a two-dimensional formation. The lead vehicle can be in any position of the group. Speed (throttle) and steering controllers are deployed in the follower vehicles which utilize only two parameters for position sensing. A minimum (safe) separation distance for vehicles following in lane (lane separation) and for those traveling abreast (lateral separation). Several sample missions, including lane following, square formations in right turns and lap runs are used to determine the performance of the controller for a four vehicle group. The variations in both lane and lateral separations during the mission are monitored as the primary measure of the controller performance.
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U2 - 10.1115/DETC2008-49913
DO - 10.1115/DETC2008-49913
M3 - Conference contribution
AN - SCOPUS:81155123671
SN - 9780791843291
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 809
EP - 817
BT - ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
T2 - ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
Y2 - 3 August 2008 through 6 August 2008
ER -