Longitudinal Inter-Vehicle Distance Control of Autonomous Vehicle Platoons Subjected to Internal and External Disturbances

Alex GUNAGWERA; Aydın Tarık ZENGİN

doi:https://doi.org/10.17694/bajece.1017623

Makale detayları

Longitudinal Inter-Vehicle Distance Control of Autonomous Vehicle Platoons Subjected to Internal and External Disturbances

Yazarlar:

Alex GUNAGWERA | Aydın Tarık ZENGİN

Yayıncı:

Balkan Yayın

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Balkan Journal of Electrical and Computer Engineering 2022 Vol.10 Issue 1, pp.75-84

Belge Tipi:

Makale

Yayın Tarihi:

1/2022

Belge Dili:

İngilizce

Document ID (Org No.):

2000927273

Sıklık:

Üç Aylık

pISSN:

2147-284X

DOI:

https://doi.org/10.17694/bajece.1017623

Özet:

 

The idea of autonomous vehicle platoons presents a variety of social, economic, and safety benefits to the transportation industry. However, implementing and deploying autonomous vehicle platoons is still a challenge. In this paper, we present a PID-based computationally cost-efficient controller to aid in the longitudinal control of the inter-vehicle distance between successive platoon members. The proposed approach is facilitated by inter-vehicle communication. The algorithm was implemented using the Robotics Operating System and Gazebo simulation environment. In order to evaluate the performance and applicability of the proposed approach, meticulous simulations under numerous scenarios were performed using 3D vehicle models so as to mimic the real world. The algorithm successfully maintains the longitudinal inter-vehicle distance within the desired range, ensures that no collisions occur among platoon members, and preserves the platoon formation.

Makale detayları

Longitudinal Inter-Vehicle Distance Control of Autonomous Vehicle Platoons Subjected to Internal and External Disturbances

Yazarlar: Alex GUNAGWERA | Aydın Tarık ZENGİN

Yayıncı: Balkan Yayın

Ana Başlıklar: Uygulamalı fizik

Dergi: Balkan Journal of Electrical and Computer Engineering 2022 Vol.10 Issue 1, pp.75-84

Belge Tipi: Makale

Yayın Tarihi: 1/2022

Belge Dili: İngilizce

Document ID (Org No.): 2000927273

Sıklık: Üç Aylık

pISSN: 2147-284X

DOI: https://doi.org/10.17694/bajece.1017623

Sayı

Yazarlar:

Alex GUNAGWERA | Aydın Tarık ZENGİN

Yayıncı:

Balkan Yayın

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Balkan Journal of Electrical and Computer Engineering 2022 Vol.10 Issue 1, pp.75-84

Belge Tipi:

Makale

Yayın Tarihi:

1/2022

Belge Dili:

İngilizce

Document ID (Org No.):

2000927273

Sıklık:

Üç Aylık

pISSN:

2147-284X

DOI:

https://doi.org/10.17694/bajece.1017623