Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 417)


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.


ACC CACC V2V String stability 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.RobeSafeUniversity of AlcaláMadridSpain
  2. 2.INRIAParisFrance

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