In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies.

Kinematic Control of Platoons of Autonomous Vehicles

ANTONELLI, Gianluca;CHIAVERINI, Stefano
2006-01-01

Abstract

In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11580/13105
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