In this paper we tackle the problem of collision avoidance of ground vehicles in a platoon. In this framework, we focus on a single vehicle, and we guarantee that a given safe set is not exited during a mission. More specifically, we consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and we design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, we resort to the concepts of Input-Output Finite-Time Stability and Stabilization. Some simulation results are included, showing the effectiveness of the proposed approach.
Vehicle collision avoidance via control over a finite-time horizon / Ariola, Marco; DE TOMMASI, Gianmaria; Amato, Francesco. - (2017), pp. 222-227. (Intervento presentato al convegno IEEE 14th International Conference on Networking, Sensing and Control tenutosi a Cosenza, Italy nel Maggio) [10.1109/ICNSC.2017.8000095].
Vehicle collision avoidance via control over a finite-time horizon
ARIOLA, MARCO;DE TOMMASI, GIANMARIA;AMATO, FRANCESCO
2017
Abstract
In this paper we tackle the problem of collision avoidance of ground vehicles in a platoon. In this framework, we focus on a single vehicle, and we guarantee that a given safe set is not exited during a mission. More specifically, we consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and we design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, we resort to the concepts of Input-Output Finite-Time Stability and Stabilization. Some simulation results are included, showing the effectiveness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
