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Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots

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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

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Abstract

This paper deals with the stability analysis of a Cooperative Adaptive Cruise Control system (CACC) in a convoy of vehicles, in order to solve traffic congestion. The differences between the Adaptive Cruise Control (ACC) and its cooperative version will be studied from the string stability point of view, highlighting the advantages of adding Vehicle-to-Vehicle (V2V) communications. The system will be tested in simulation using MATLAB/Simulink for a convoy of three vehicles and, after that, the control system will be translated to real experimentation for a convoy of three Pioneer robots.

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Author information

Authors and Affiliations

  1. RobeSafe, University of Alcalá, Madrid, Spain

    F. M. Navas Matos, E. J. Molinos Vicente, A. Llamazares Llamazares & Manuel Ocaña Miguel

  2. INRIA, Paris, France

    V. Milanés Montero

Authors
  1. F. M. Navas Matos
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  2. E. J. Molinos Vicente
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  3. A. Llamazares Llamazares
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  4. Manuel Ocaña Miguel
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  5. V. Milanés Montero
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Corresponding author

Correspondence to F. M. Navas Matos .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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© 2016 Springer International Publishing Switzerland

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Navas Matos, F.M., Molinos Vicente, E.J., Llamazares, A.L., Miguel, M.O., Milanés Montero, V. (2016). Cooperative Adaptive Cruise Control for a Convoy of Three Pioneer Robots. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_17

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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