Abstract
This paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.
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This work has been funded by the European EVENTS project under the grant agreement No. 101069614.
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Arizala, A., Alonso, G., Pérez, J., Zubizarreta, A. (2024). Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_22
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DOI: https://doi.org/10.1007/978-3-031-58676-7_22
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