Robotics and eSafety Research Group

University of Alcalá

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Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots

Research Area: Robotics and eSafety Year: 2015
Type of Publication: In Proceedings Keywords: ACC, CACC, V2V, String Stability
Editor: Springer Volume: 417
Book title: Robot 2015: Second Iberian Robotics Conference. Advances in Robotics
Series: Advances in Intelligent Systems and Computing Pages: 217-230
Month: November
ISBN: 978-3-319-27145-3 ISSN: 2194-5365
This paper deals with the stability analysis of a Cooperative Adaptive Cruise Control system (CACC) in a convoy of vehicles, in order to solve traffic congestion. The differences between the Adaptive Cruise Control (ACC) and its cooperative version will be studied from the string stability point of view, highlighting the advantages of adding Vehicle-to-Vehicle (V2V) communications. The system will be tested in simulation using MATLAB/Simulink for a convoy of three vehicles and, after that, the control system will be translated to real experimentation for a convoy of three Pioneer robots.
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