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Synthesis of Distributed Longitudinal Control 1 Protocols for a Platoon of Autonomous Vehicles
Abstract We develop a framework for control protoco …
We develop a framework for control protocol syn- thesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown.
ed vehicles control problem is also shown.  +
Authors Duo Han, Yilin Mo, Richard M. Murray  +
Funding Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems +
ID 2015d  +
Source Submitted, 2015 Conference on Decision and Control (CDC)  +
Tag hmm15-cdc  +
Title Synthesis of Distributed Longitudinal Control 1 Protocols for a Platoon of Autonomous Vehicles +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 05:39:21  +
URL
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http://www.cds.caltech.edu/~murray/preprints/hmm15-cdc_s.pdf  +
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Synthesis of Distributed Longitudinal Control 1 Protocols for a Platoon of Autonomous Vehicles + Title
 

 

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