Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system

Itai Arad; Shai Arogeti; Rami Ronen

doi:10.1109/ICARCV.2014.7064280

Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system

Itai Arad
, Shai Arogeti
, Rami Ronen

Department of Mechanical Engineering

Ben-Gurion University of the Negev

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a new control law for the coordinated path following control problem. The paper deals with a group of car-like vehicles, where each vehicle is represented by the bicycle kinematic model. A two layer method is proposed, in which an inner layer is responsible for vehicle convergence to a desired path, and an outer layer is in charge of solving the coordination problem. A chained form model is formulated in the design of the inner control layer. The time derivative of the path parameter is utilized as the control signal of the outer control layer, and it is generated by different modes of operation, such that different modes represent different tasks. The main contribution of this paper stems from the coordination mechanism and its implementations for intelligent transportation system (ITS). The proposed architecture allows each vehicle to carry out a discrete task independently of other vehicle tasks, depending on the current road situation. The control law has been tested using numerical simulations.

Original language	English
Title of host publication	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Pages	59-64
Number of pages	6
ISBN (Electronic)	9781479951994
DOIs	https://doi.org/10.1109/ICARCV.2014.7064280
State	Published - 1 Jan 2014
Event	13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore Duration: 10 Dec 2014 → 12 Dec 2014

Publication series

Name	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Conference

Conference	13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/Territory	Singapore
City	Singapore
Period	10/12/14 → 12/12/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

Keywords

Chained form model
Coordinated path following
Intelligent transportation system

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Human-Computer Interaction
Artificial Intelligence
Control and Systems Engineering

Access to Document

10.1109/ICARCV.2014.7064280

Cite this

Arad, I., Arogeti, S., & Ronen, R. (2014). Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 (pp. 59-64). Article 7064280 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). https://doi.org/10.1109/ICARCV.2014.7064280

Arad, Itai ; Arogeti, Shai ; Ronen, Rami. / Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system. 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. 2014. pp. 59-64 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014).

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title = "Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system",

abstract = "This paper presents a new control law for the coordinated path following control problem. The paper deals with a group of car-like vehicles, where each vehicle is represented by the bicycle kinematic model. A two layer method is proposed, in which an inner layer is responsible for vehicle convergence to a desired path, and an outer layer is in charge of solving the coordination problem. A chained form model is formulated in the design of the inner control layer. The time derivative of the path parameter is utilized as the control signal of the outer control layer, and it is generated by different modes of operation, such that different modes represent different tasks. The main contribution of this paper stems from the coordination mechanism and its implementations for intelligent transportation system (ITS). The proposed architecture allows each vehicle to carry out a discrete task independently of other vehicle tasks, depending on the current road situation. The control law has been tested using numerical simulations.",

keywords = "Chained form model, Coordinated path following, Intelligent transportation system",

author = "Itai Arad and Shai Arogeti and Rami Ronen",

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doi = "10.1109/ICARCV.2014.7064280",

language = "English",

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Arad, I, Arogeti, S & Ronen, R 2014, Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system. in 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014., 7064280, 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, pp. 59-64, 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, Singapore, Singapore, 10/12/14. https://doi.org/10.1109/ICARCV.2014.7064280

Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system. / Arad, Itai; Arogeti, Shai; Ronen, Rami.
2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. 2014. p. 59-64 7064280 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system

AU - Arad, Itai

AU - Arogeti, Shai

AU - Ronen, Rami

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper presents a new control law for the coordinated path following control problem. The paper deals with a group of car-like vehicles, where each vehicle is represented by the bicycle kinematic model. A two layer method is proposed, in which an inner layer is responsible for vehicle convergence to a desired path, and an outer layer is in charge of solving the coordination problem. A chained form model is formulated in the design of the inner control layer. The time derivative of the path parameter is utilized as the control signal of the outer control layer, and it is generated by different modes of operation, such that different modes represent different tasks. The main contribution of this paper stems from the coordination mechanism and its implementations for intelligent transportation system (ITS). The proposed architecture allows each vehicle to carry out a discrete task independently of other vehicle tasks, depending on the current road situation. The control law has been tested using numerical simulations.

AB - This paper presents a new control law for the coordinated path following control problem. The paper deals with a group of car-like vehicles, where each vehicle is represented by the bicycle kinematic model. A two layer method is proposed, in which an inner layer is responsible for vehicle convergence to a desired path, and an outer layer is in charge of solving the coordination problem. A chained form model is formulated in the design of the inner control layer. The time derivative of the path parameter is utilized as the control signal of the outer control layer, and it is generated by different modes of operation, such that different modes represent different tasks. The main contribution of this paper stems from the coordination mechanism and its implementations for intelligent transportation system (ITS). The proposed architecture allows each vehicle to carry out a discrete task independently of other vehicle tasks, depending on the current road situation. The control law has been tested using numerical simulations.

KW - Chained form model

KW - Coordinated path following

KW - Intelligent transportation system

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M3 - Conference contribution

T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

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Arad I, Arogeti S, Ronen R. Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. 2014. p. 59-64. 7064280. (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). doi: 10.1109/ICARCV.2014.7064280

Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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