PhD Thesis

Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots

Mato, Francisco Martín Navas; Molinos, Eduardo; Llamazares, Ángel; Ocaña, Manuel; Montero, Vicente Milanés
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
DOI: 10.1007/978-3-319-27146-0
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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