Cooperative Control of Networked Vehicles
Alexander Schwab
Cite this publication as
Alexander Schwab, Cooperative Control of Networked Vehicles (2022), Logos Verlag, Berlin, ISBN: 9783832584337
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Description / Abstract
This thesis concerns the cooperative control of networked vehicles. Autonomous driving is a topic that is currently being discussed with great interest from researchers, vehicle man -ufacturers and the corresponding media. Future autonomous vehicles should bring the passengers to their desired destination while improving both safety and efficiency compared to current human-driven vehicles. The inherent problem of all vehicle coordination tasks is to guarantee collision avoidance in every situation. To this end, autonomous vehicles have to share information with each other in order to perform traffic manoeuvres that require the cooperation of multiple vehicles.
The fundamental problem of vehicle platooning is studied extensively which describes the task of arranging a set of vehicles so that they drive with a common velocity and a prescribed distance. Local design objectives are derived that have to be satisfied by the vehicle controllers. In particular, it is shown that the vehicles have to be externally positive to achieve collision avoidance.
As an abstraction from real traffic scenarios, swarms of networked vehicles are considered. The main difference be -tween swarming and traffic problems is that a communication structure that has been appropriate in the beginning might become unsuited for the control task due to the relative movement of the vehicles. To solve this problem, this thesis proposes to use the Delaunay triangulation as a switching communication structure.
The fundamental problem of vehicle platooning is studied extensively which describes the task of arranging a set of vehicles so that they drive with a common velocity and a prescribed distance. Local design objectives are derived that have to be satisfied by the vehicle controllers. In particular, it is shown that the vehicles have to be externally positive to achieve collision avoidance.
As an abstraction from real traffic scenarios, swarms of networked vehicles are considered. The main difference be -tween swarming and traffic problems is that a communication structure that has been appropriate in the beginning might become unsuited for the control task due to the relative movement of the vehicles. To solve this problem, this thesis proposes to use the Delaunay triangulation as a switching communication structure.
Table of content
- BEGINN
- 1 Introduction to cooperative control of networked vehicles
- 1.1 Networked control systems
- 1.2 Goal of this thesis
- 1.3 Fields of application
- 1.4 Open questions
- 1.5 Literature overview
- 1.6 Contributions of this thesis
- 1.7 Structure of this thesis
- 2 Preliminaries and fundamentals
- 2.1 Notation
- 2.2 Description of linear time-invariant systems
- 2.3 Fundamentals of control theory
- 2.4 Networked control systems
- 3 Externally positive systems
- 3.1 Introduction to externally positive systems
- 3.2 Further conditions on external positivity
- 3.3 On the design of externally positive feedback loops
- 3.4 Summary and literature notes
- 4 Vehicle platooning
- 4.1 Introduction to adaptive cruise control
- 4.2 General design objectives
- 4.3 Design of adaptive cruise controllers
- 4.4 Summary and literature notes
- 5 Delaunay triangulation networks
- 5.1 The Delaunay triangulation
- 5.2 Local geometric characterisation of the Delaunay triangulation
- 5.3 Distributed algorithms to maintain a Delaunay triangulation
- 5.4 Summary and literature notes
- 6 Swarms of mobile agents
- 6.1 Introduction to swarming
- 6.2 Control of mobile agents with artificial potential fields
- 6.3 Distance-based formations with guaranteed collision avoidance
- 6.4 Combination of Morse potential functions with Delaunay networks
- 6.5 Summary and literature notes
- 7 Practical implementation and experimental evaluation
- 7.1 SAMS: Synchronisation of autonomous mobile systems
- 7.2 Path tracking control
- 7.3 Vehicle platooning
- 7.4 Distance-based formation control
- 7.5 Transition problem
- 7.6 Summary and literature notes
- 8 Conclusion
- Bibliography
- List of Symbols