Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots

  • F. M. Navas Matos
  • E. J. Molinos Vicente
  • A. Llamazares Llamazares
  • Manuel Ocaña Miguel
  • V. Milanés Montero
Conference paper

DOI: 10.1007/978-3-319-27146-0_17

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 417)
Cite this paper as:
Navas Matos F.M., Molinos Vicente E.J., Llamazares A.L., Miguel M.O., Milanés Montero V. (2016) Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots. In: Reis L., Moreira A., Lima P., Montano L., Muñoz-Martinez V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham

Abstract

This paper deals with the stability analysis of a Cooperative Adaptive Cruise Control system (CACC) in a convoy of vehicles, in order to solve traffic congestion. The differences between the Adaptive Cruise Control (ACC) and its cooperative version will be studied from the string stability point of view, highlighting the advantages of adding Vehicle-to-Vehicle (V2V) communications. The system will be tested in simulation using MATLAB/Simulink for a convoy of three vehicles and, after that, the control system will be translated to real experimentation for a convoy of three Pioneer robots.

Keywords

ACC CACC V2V String stability 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • F. M. Navas Matos
    • 1
  • E. J. Molinos Vicente
    • 1
  • A. Llamazares Llamazares
    • 1
  • Manuel Ocaña Miguel
    • 1
  • V. Milanés Montero
    • 2
  1. 1.RobeSafeUniversity of AlcaláMadridSpain
  2. 2.INRIAParisFrance

Personalised recommendations