A distributed consensus controller for platooning of vehicles in presence of communication delays

Project for Elective in Robotics: Control of Multi-Robot Systems, 2019-2020, Università Roma La Sapienza.

Approach

Our goal is simulate the control model described the following resarch paper:

• Di Bernardo, M., Salvi, A., & Santini, S. (2014). Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays.IEEE Transactions on Intelligent Transportation Systems,16(1), 102-112

Main aspects:

1. A set of vehicles that are required to drive as a platoon
2. Only front and rear vehicle communication
3. Distance and velocity constraints

Project status

Completed

Running the test

run init_test.m

Video Demo

Team

• Michele Ciciolla

• Josè Bustamante Julca

Documentation

You can read our final technical documentation about this project here DOCUMENTATION

References

[1] M. di Bernardo, A. Salvi and S. Santini, "Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays, Feb. 2015