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Content Provider | IET Digital Library |
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Author | Karoui, Oussama Guerfala, Emna Koubaa, Anis Khalgui, Mohamed Tovard, Eduardo Wu, Naiqi Ahmari, Abdulrahman Al Li, Zhiwu |
Abstract | Safety issue of vehicular platoons remains a critical challenge and is still open for investigation. In this study, the authors propose an accurate simulation model for vehicular platoons, taking into consideration of the kinematics and dynamics aspects of the platoon and its physical constraints. A hybrid controller formed by two different longitudinal and lateral proportional–integral–derivative controllers and two operation modes at the same time is developed and simulated using Webots. By this study, the aim is to deeply study the performance of the platoon and reveal its weakness in real scenarios. The latter includes normal/degraded operating modes, different speeds, full brake scenarios and various global positioning system accuracies. Results show the efficiency of the platoon controller even in the predefined degraded mode. |
Starting Page | 441 |
Ending Page | 449 |
Page Count | 9 |
ISSN | 1751956X |
Volume Number | 11 |
e-ISSN | 17519578 |
Issue Number | Issue 8, Oct (2017) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-its/11/8 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-its.2017.0036 |
Journal | IET Intelligent Transport Systems |
Publisher Date | 2017-05-11 |
Access Restriction | Open |
Rights Holder | © The Institution of Engineering and Technology |
Subject Keyword | Degraded Operating Mode Full-brake Scenario Global Positioning System Hybrid Controller Lateral Proportional-integral-derivative Controller Longitudinal Controller Mobile Robots Multi-robot System Normal Operating Mode Operation Mode Performance Evaluation Physical Constraint Platoon Dynamic Aspect Platoon Kinematic Aspect Robot And Manipulator Mechanics Robot Dynamics Robot Kinematics Safety Issue Simulation Model Three-term Control Vehicular Platoons Webots |
Content Type | Text |
Resource Type | Article |
Subject | Law Transportation Environmental Science Mechanical Engineering |
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