Application of command shaping to a convoy of ground vehicles

Abstract

Abstract-This paper documents the effect that command shaping has on the inter-vehicular spacing performance of autonomous convoys. The control method is based only on distance measurements between vehicles in the platoon. The lead vehicle's longitudinal controller was developed to follow a given velocity. The follower vehicles maintain the desired spacing using distance measurements to the preceding and following vehicles. Three overall control schemes were experimentally tested: PD control without lead vehicle velocity information, PD control with lead vehicle velocity information and PID control without lead vehicle velocity information. In all cases adding command shaping led to improved performance. This approach leads to more physically realizable controller efforts for the follower vehicles and helps maintain and improve string stability.

Implementation of control algorithm for three-dimensional pursuer convoy

“…For constant velocity maneuvers of the leader, at steady state, the two vehicle convoy will travel concentric arcs of same radii with prescribed inter-vehicle spacing. In [4], the feasibility of utilizing PD and PID convoy control algorithms using only distance and velocity measurements to the preceding and following car is obtained certification. The control strategy for a wheeled mobile robot model that includes the kinemat ical and dynamic equations of motion is given in [5].…”