Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots
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- 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
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.
KeywordsACC CACC V2V String stability
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