The design, analysis and experimental validation of a Cooperative Adaptive Cruise Control (CACC) system are presented. Focussing on the feasibility of the implementation, vehicle-to-vehicle communication with the directly preceding vehicle only is considered. This communication structure is known as semi-autonomous ACC and enables ad-hoc platooning and dealing with non-CACCeqquipped vehicles in...

Connected and automated vehicles (CAVs) platoons have been widely researched because of their efficiency advantages. However, most studies mainly focus on the stability control platoon there is a lack in-depth consideration lane changing. In order to make up for this vacancy, study focused dynamic gap in changing process. First, an intra-platoon potential field was established by combining repu...

This paper presents a concept of platoon movement of autonomous vehicles (smart cars). To be able to do research to the stability of an AGV string, a car-following model is being determined. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times. To control this string, equal P(I)D controllers are appl...

Trajectory Tracking and Formation Control of a Platoon of Mobile Robots Mahsa Aliakbar Golkar This thesis is concerned with controlling a platoon of wheeled mobile robots (WMR), where the robots are aimed to follow a trajectory while they maintain their formation intact. The control design is carried out by considering unicycle kinematics for each robot, and the leader-follower structure for th...

For vehicle platoons, the leader following control architecture is known to be capable of achieving string stability while maintaining tight formations. In this paper we study a variety of schemes where the leader state is available to the other members of the platoon. We show that in some cases it is possible to achieve string stability in the presence of certain amounts of time delay in the l...

Over the last few decades, congested traffic network have become a serious problem in many countries. Congestions result in time losses, increase of fuel consumption and also raise the risk of accidents. Intelligent transportation systems may contribute to mitigate such problems. Advancement together with the reduction in cost of embedded computing, on-board vehicle sensors and wireless communi...

In agent based models, the agents are usually platforms (individual soldiers, tanks, helicopters, etc.), not military units. In the Sandis software, the agents can be platoon size units. As there are about 30 soldiers in a platoon, there is a need for strength distribution in simulations. The contribution of this paper is a conceptual model of the platoon level agent, the needed mathematical mo...

Recent development in wireless technology enables communication between vehicles. The concept of cooperative adaptive cruise control (CACC)–which uses wireless communication between vehicles–aims at string stable behavior in a platoon of vehicles. “String stability” means any non-zero position, speed, and acceleration errors of an individual vehicle in a string do not amplify when they propagat...