The control of non-holonomic vehicles require a joint control of the vehicle's position and orientation (pose). Pose Control of multiple non-holonomic Connected and Automated Vehicles (CAVs) is computationally complex. This paper investigates a method for pose control of multiple non-holonomic CAVs that distributes the computations among the CAVs. To this end, we use a Distributed Model Predictive Control (DMPC) approach that is based on synchronization. This approach is purely distributed and does not require any central entity. The CAVs follow their reference trajectories while avoiding collisions. We generate the reference trajectories by considering the non-holonomic dynamics of the CAVs. Our demonstration on scaled CAVs shows the applicability of this approach. Furthermore, our evaluation shows the scalability of this approach in the numbers of CAVs.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Pose Control of Non-Holonomic Vehicles Using Synchronization


    Beteiligte:


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    677069 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Elliptical trajectories for non-holonomic vehicles

    Bampi, F. / Scalzo, A. / Zaccaria, R. et al. | British Library Conference Proceedings | 2007


    Elliptical trajectories for non-holonomic vehicles

    Bampi, F. / Scalzo, A. / Zaccaria, R. et al. | IEEE | 2007


    PARK ATTRACTION WITH COLLABORATIVE PASSENGER CONTROL OF HOLONOMIC VEHICLES

    ILARDI MICHAEL J / MEZZATESTA III FRANK D / BECKER JONATHAN MICHAEL et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    Park attraction with collaborative passenger control of holonomic vehicles

    ILARDI MICHAEL J / MEZZATESTA III FRANK D / BECKER JONATHAN MICHAEL et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    GPS-Free Collaborative Elliptical Circumnavigation Control for Multiple Non-Holonomic Vehicles

    Shao, Xingling / Li, Shixiong / Zhang, Jintao et al. | IEEE | 2023