TY - JOUR
T1 - Dynamics control of topology switching for multi-functional unmanned ground vehicle platoon with VCBDL topology
AU - Zhao, Yue
AU - Ni, Jun
AU - Hu, Jibin
N1 - Publisher Copyright:
© IMechE 2022.
PY - 2023/10
Y1 - 2023/10
N2 - With the development of Unmanned Ground Vehicles (UGVs), a variety of civilian missions could be carried out by UGVs. The utilization of UGV in Intelligent Transportation System (ITS) has received significant attention in recent year. However, single UGV can’t satisfy the requirement of enormous complex work in civil use. It requires UGV to be grouped as a platoon to complete different mission with different formation and information topology. Therefore, a novel coordination control method is needed to solve the topology switch problem. In this paper, a switchable form of Vehicle-Cloud Bidirectional Leader (VCBDL) topology is proposed. Within this information topology, the formation topology of UGV platoon is formed by following the order of cloud brain and can be switched for different requirement. To obtain stable performance of the platoon in switch process, this paper analyzes the design of the platoon controller. The range of controller gain is obtained through the Lyapunov stability analysis. The above conclusions are verified by the experiments based on a shuttle UGV testbed platoon.
AB - With the development of Unmanned Ground Vehicles (UGVs), a variety of civilian missions could be carried out by UGVs. The utilization of UGV in Intelligent Transportation System (ITS) has received significant attention in recent year. However, single UGV can’t satisfy the requirement of enormous complex work in civil use. It requires UGV to be grouped as a platoon to complete different mission with different formation and information topology. Therefore, a novel coordination control method is needed to solve the topology switch problem. In this paper, a switchable form of Vehicle-Cloud Bidirectional Leader (VCBDL) topology is proposed. Within this information topology, the formation topology of UGV platoon is formed by following the order of cloud brain and can be switched for different requirement. To obtain stable performance of the platoon in switch process, this paper analyzes the design of the platoon controller. The range of controller gain is obtained through the Lyapunov stability analysis. The above conclusions are verified by the experiments based on a shuttle UGV testbed platoon.
KW - Lyapunov stability
KW - Unmanned Ground Vehicle
KW - Vehicle-Cloud Bidirectional Leader (VCBDL) topology
KW - switchable topology
UR - http://www.scopus.com/inward/record.url?scp=85139398761&partnerID=8YFLogxK
U2 - 10.1177/09544070221121889
DO - 10.1177/09544070221121889
M3 - Article
AN - SCOPUS:85139398761
SN - 0954-4070
VL - 237
SP - 2708
EP - 2720
JO - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
IS - 12
ER -