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Conference Papers Year : 2008

The Application of Reference-path Control to Vehicle Platoons

Drago Matko
  • Function : Correspondent author
  • PersonId : 855458

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Gregor Klancar
  • Function : Author
Saso Blazic
  • Function : Author
Olivier Simonin
Franck Gechter
  • Function : Author
  • PersonId : 834902
Jean-Michel Contet
  • Function : Author
  • PersonId : 855459
Pablo Gruer
  • Function : Author
  • PersonId : 855460


A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. The platooning vehicles have non-holonomic constraints. The following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. The reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. The parameters of the polynominals are determined using the least-squares method. This parametric reference path is also used to determine the feed-forward part of the applied control algorithm. The feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orientation error. The results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.
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Dates and versions

inria-00338639 , version 1 (13-11-2008)


  • HAL Id : inria-00338639 , version 1


Drago Matko, Gregor Klancar, Saso Blazic, Olivier Simonin, Franck Gechter, et al.. The Application of Reference-path Control to Vehicle Platoons. 5th International Conference on Informatics in Control, Automation and Robotics - ICINCO 2008, May 2008, Madeira, Portugal. ⟨inria-00338639⟩
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