A Novel Formation Creation Algorithm for Heterogeneous Vehicles in Highway Scenarios: Assessment and Experimental Validation

Massimo Zambelli, Paola Carulli, Martin Steinberger, Martin Horn, Antonella Ferrara

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem Konferenzband

Abstract

In this paper a novel algorithm for the on-line creation of formations of heterogeneous vehicles is proposed for highway traffic scenarios. A two-step iterative distributed strategy is formulated which relies on Dynamic Programming and trajectory tracking. Only position measurements and basic
communication capabilities for global coordination are required, while scalability is guaranteed by the underlying structure of the algorithm. In addition, spatial and velocity constraints are taken into account. The presented concept forms the basis for more sophisticated formation creation controllers. Results obtained in experiments with automated small-scale trucks show the underlying validity and practical feasibility of the algorithm.
Originalspracheenglisch
TitelIFAC-PapersOnLine: Proceedings of the 21st IFAC World Congress
Seitenumfang6
PublikationsstatusAngenommen/In Druck - 2020
Veranstaltung21st IFAC World Congress - Virtuell, Deutschland
Dauer: 12 Jul 202017 Jul 2020

Konferenz

Konferenz21st IFAC World Congress
KurztitelIFAC 2020
LandDeutschland
OrtVirtuell
Zeitraum12/07/2017/07/20

Fingerprint Untersuchen Sie die Forschungsthemen von „A Novel Formation Creation Algorithm for Heterogeneous Vehicles in Highway Scenarios: Assessment and Experimental Validation“. Zusammen bilden sie einen einzigartigen Fingerprint.

  • Dieses zitieren

    Zambelli, M., Carulli, P., Steinberger, M., Horn, M., & Ferrara, A. (Angenommen/Im Druck). A Novel Formation Creation Algorithm for Heterogeneous Vehicles in Highway Scenarios: Assessment and Experimental Validation. in IFAC-PapersOnLine: Proceedings of the 21st IFAC World Congress