Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Communication Channel Scheduling for Remote Control of Lead Vehicle in a Platoon

군집 선행차량의 원격제어를 위한 통신 채널의 최적 스케줄링

  • 황태현 (부산대학교 기계공학부, 기계기술연구소) ;
  • 최재원 (부산대학교 기계공학부, 기계기술연구소)
  • Published : 2003.12.01
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Abstract

A remote control strategy for vehicles in Intelligent Vehicle Highway System (IVHS) is considered. An optimal scheduling of a limited communication channel is proposed for lead vehicle control in a platoon. The optimal scheduling problem is to find the optimal communication sequence that minimizes the cost obtained inherently by an optimal control without the communication constraint. In this paper, the PID control law which guarantees the string stability is used for the lead vehicle control. The fact that the PID control law is equivalent to the approximately linear quadratic tracker allows to obtain the performance measure to find an optimal sequence. Simulations are conducted with five maneuvering platoons to evaluate the optimality of the obtained sequence.

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References

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