Cooperative Adaptive Cruise Control (CACC) is made possible with connected vehicles to achieve tight vehicle following. Vehicle-to-vehicle wireless communication can provide information that is not present using available in-vehicle sensors and can aid the development of better control strategies for following. Current theoretical and experimental studies have shown that CACC systems reduce the inter-vehicle headway as compared to Adaptive Cruise Control (ACC) systems while guaranteeing string stability, i.e., gap-keeping error doesn't propagate throughout the platoon. This paper focuses on implementation of a CACC system on unmanned ground robots. The step response for the transfer function of the CACC system equals a step input and thus demands zero rise time. Our robot platooning experiment results have demonstrated the advantages of CACC over ACC in maintaining a small inter-vehicle headway.


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    Titel :

    Experimental evaluation of cooperative adaptive cruise control with autonomous mobile robots


    Beteiligte:
    Lin, Yuan (Autor:in) / Eskandarian, Azim (Autor:in)


    Erscheinungsdatum :

    01.08.2017


    Format / Umfang :

    613400 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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