異種車両プラトーンに対するアフィン車間ポリシーと任意通信トポロジーを用いた分散モデル予測制御
Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies
任意の通信トポロジーとアフィン車間ポリシーに対応した分散モデル予測制御アルゴリズムを提案し、プラトーンの漸近安定性の十分条件を導出するとともに、50台のシミュレーションと4台の1/10スケール車両実験で検証した。
著者: Michael H. Shaham, Taskin Padir
分類: cs.MA, cs.RO, cs.SY, eess.SY, math.OC
原文アブストラクト
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm can accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to ensure platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th-scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.
