Performance Evaluation of Vehicular Platoons using Webots

Detalhes bibliográficos
Autor(a) principal: Karoui, Oussama
Data de Publicação: 2017
Outros Autores: Guerfala, Emna, Koubâa, Anis, Khalgui, Mohamed, Tovar, Eduardo, Wu, Naiqi, Al-Ahmari, Abdulrahman, Li, Zhiwu
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/10759
Resumo: Safety issue of vehicular platoons remains a critical challenge and is still open for investigation. In this study, the authors propose an accurate simulation model for vehicular platoons, taking into consideration of the kinematics and dynamics aspects of the platoon and its physical constraints. A hybrid controller formed by two different longitudinal and lateral proportional–integral–derivative controllers and two operation modes at the same time is developed and simulated using Webots. By this study, the aim is to deeply study the performance of the platoon and reveal its weakness in real scenarios. The latter includes normal/degraded operating modes, different speeds, full brake scenarios and various global positioning system accuracies. Results show the efficiency of the platoon controller even in the predefined degraded mode.
id RCAP_d532d6c030b1848efc506d30bd864ee4
oai_identifier_str oai:recipp.ipp.pt:10400.22/10759
network_acronym_str RCAP
network_name_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository_id_str 7160
spelling Performance Evaluation of Vehicular Platoons using WebotsGlobal Positioning SystemMobile robotsMulti-robot systemsRobot dynamicsRobot kinematicsThree-term controlSafety issue of vehicular platoons remains a critical challenge and is still open for investigation. In this study, the authors propose an accurate simulation model for vehicular platoons, taking into consideration of the kinematics and dynamics aspects of the platoon and its physical constraints. A hybrid controller formed by two different longitudinal and lateral proportional–integral–derivative controllers and two operation modes at the same time is developed and simulated using Webots. By this study, the aim is to deeply study the performance of the platoon and reveal its weakness in real scenarios. The latter includes normal/degraded operating modes, different speeds, full brake scenarios and various global positioning system accuracies. Results show the efficiency of the platoon controller even in the predefined degraded mode.Institution of Engineering and TechnologyRepositório Científico do Instituto Politécnico do PortoKaroui, OussamaGuerfala, EmnaKoubâa, AnisKhalgui, MohamedTovar, EduardoWu, NaiqiAl-Ahmari, AbdulrahmanLi, Zhiwu2018-01-11T14:44:43Z20172017-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/10759eng1751-9578metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:52:12Zoai:recipp.ipp.pt:10400.22/10759Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:31:03.927286Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Performance Evaluation of Vehicular Platoons using Webots
title Performance Evaluation of Vehicular Platoons using Webots
spellingShingle Performance Evaluation of Vehicular Platoons using Webots
Karoui, Oussama
Global Positioning System
Mobile robots
Multi-robot systems
Robot dynamics
Robot kinematics
Three-term control
title_short Performance Evaluation of Vehicular Platoons using Webots
title_full Performance Evaluation of Vehicular Platoons using Webots
title_fullStr Performance Evaluation of Vehicular Platoons using Webots
title_full_unstemmed Performance Evaluation of Vehicular Platoons using Webots
title_sort Performance Evaluation of Vehicular Platoons using Webots
author Karoui, Oussama
author_facet Karoui, Oussama
Guerfala, Emna
Koubâa, Anis
Khalgui, Mohamed
Tovar, Eduardo
Wu, Naiqi
Al-Ahmari, Abdulrahman
Li, Zhiwu
author_role author
author2 Guerfala, Emna
Koubâa, Anis
Khalgui, Mohamed
Tovar, Eduardo
Wu, Naiqi
Al-Ahmari, Abdulrahman
Li, Zhiwu
author2_role author
author
author
author
author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Karoui, Oussama
Guerfala, Emna
Koubâa, Anis
Khalgui, Mohamed
Tovar, Eduardo
Wu, Naiqi
Al-Ahmari, Abdulrahman
Li, Zhiwu
dc.subject.por.fl_str_mv Global Positioning System
Mobile robots
Multi-robot systems
Robot dynamics
Robot kinematics
Three-term control
topic Global Positioning System
Mobile robots
Multi-robot systems
Robot dynamics
Robot kinematics
Three-term control
description Safety issue of vehicular platoons remains a critical challenge and is still open for investigation. In this study, the authors propose an accurate simulation model for vehicular platoons, taking into consideration of the kinematics and dynamics aspects of the platoon and its physical constraints. A hybrid controller formed by two different longitudinal and lateral proportional–integral–derivative controllers and two operation modes at the same time is developed and simulated using Webots. By this study, the aim is to deeply study the performance of the platoon and reveal its weakness in real scenarios. The latter includes normal/degraded operating modes, different speeds, full brake scenarios and various global positioning system accuracies. Results show the efficiency of the platoon controller even in the predefined degraded mode.
publishDate 2017
dc.date.none.fl_str_mv 2017
2017-01-01T00:00:00Z
2018-01-11T14:44:43Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/10759
url http://hdl.handle.net/10400.22/10759
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1751-9578
dc.rights.driver.fl_str_mv metadata only access
info:eu-repo/semantics/openAccess
rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institution of Engineering and Technology
publisher.none.fl_str_mv Institution of Engineering and Technology
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
_version_ 1799131406435090432

Registros relacionados