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A global decentralized control strategy for urban vehicle platooning using monocular vision and laser rangefinder

Abstract : To address traffic saturation in cities, new “Urban Transportation Systems”, based on electric vehicles in freeaccess, are in developing. One necessary functionality of such systems is their ability to move in a platoon fashion. A global decentralized platoon control strategy, supported by inter-vehicle communications, is addressed in this paper, relying on nonlinear control techniques. The main interest in a global approach is that servoing error accumulation can be avoided, whatever the platoon length. However, absolute vehicle localization is then required. In urban applications, cameras are realistic sensors, but localization is supplied in a 3D visual virtual world, slightly distorted w.r.t. the actual metric one. To enable accurate guidance, local corrections to the visual world are here computed from the data supplied by a laser rangefinder mounted on the second vehicle, and then shared with the whole platoon. Full-scale experiments demonstrate the performance of the proposed approach.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-00344848
Contributor : Benoit Thuilot <>
Submitted on : Friday, December 5, 2008 - 7:10:38 PM
Last modification on : Friday, May 15, 2020 - 3:18:03 PM

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  • HAL Id : hal-00344848, version 1

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Pierre Avanzini, Eric Royer, Benoît Thuilot, Philippe Martinet. A global decentralized control strategy for urban vehicle platooning using monocular vision and laser rangefinder. International Conference on Control, Automation, Robotics and Vision (ICAR-CV), Dec 2008, Hanoi, Vietnam. ⟨hal-00344848⟩

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