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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    Title :

    Experimental evaluation of cooperative adaptive cruise control with autonomous mobile robots


    Contributors:


    Publication date :

    2017-08-01


    Size :

    613400 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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