A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements

This paper uses a line-following approach to study the longitudinal and lateral problems in vehicle platooning. Under this setup, we assume that inter-vehicle distance sensing is unreliable propose cooperative control strategy render platoon less vulnerable these difficulties. The proposed scheme velocity of predecessor vehicle, communicated through Vehicle-to-Vehicle technology, avoid significant oscillations local speed provoked by tracking using measurements. We implement algorithm RUPU platform, low-cost experimental platform with wireless communication interfaces enable implementation schemes for mobile agent experiments show effectiveness maintaining suitable performance even when subject temporal distortions measurements, which, considered arise from losing line-of-sight sensors paths closed curves.