|
Title
|
|
|
|
Emulation of a highway bottleneck using leader-follower formation control
|
|
|
Author
|
|
|
|
|
|
|
Abstract
|
|
|
|
| A bottleneck on a highway is a daily occurring phenomenon. Everyday car accidents, long queues and stop-and-go waves are introduced by the driver's behavior. In this work, an effective control algorithm for emulating a bottleneck situation on a highway is presented using a set of mobile robots that can be used to educate young control engineers. We use a combination of i) an in-line leader-follower formation and ii) a formation with two followers for one leader i.e. a triangular formation. Both formations are implemented using distance and angle measurements from image processing algorithms and speed measurements from optical encoders. A cascade PI-P controller is used to stabilize the system. The challenge of the current implementation stands in the fact that there is no communication between the robots. |
|
|
|
Language
|
|
|
|
English
|
|
|
Source (book)
|
|
|
|
2013 IEEE 8th International Symposium on Applied Computational Intelligence and Informatics (SACI), 23-25 May 2013, Timisoara, Romania
|
|
|
Publication
|
|
|
|
IEEE
,
2013
|
|
|
ISBN
|
|
|
|
978-1-4673-6397-6
978-1-4673-6400-3
|
|
|
DOI
|
|
|
|
10.1109/SACI.2013.6608953
|
|
|
Volume/pages
|
|
|
|
p. 131-136
|
|
|
ISI
|
|
|
|
000333188100023
|
|
|
Full text (Publisher's DOI)
|
|
|
|
|
|
|
Full text (publisher's version - intranet only)
|
|
|
|
|
|