A vehicle following system of autonomous vehicles on a string linked with a small gap by digital communication between adjacent vehicles is described. The velocity control of the vehicles on a string is formulated by the pole assignment problem to avoid collisions of vehicles. The steering control for the vehicles is based on a target point following algorithm. For the control, the position, direction, velocity and control input are transmitted from a vehicle to its following one through unidirectional communication. Infrared digital communication units of 9600 bps for the system, which search for another vehicle for linkage as well as transmit/receive data in the HDLC frame, are developed, and the communication protocol and linking of vehicles by the communication are examined.
|Number of pages
|Published - 1988
|Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
Duration: 1988 Jul 18 → 1988 Jul 20
|Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
|Minneapolis, MN, USA
|88/7/18 → 88/7/20