Distributed Control And Reorganization Of Heterogeneous Vehicle Platoons Subject to Time Delay and Limited Communication Range

• Daniel A. Godinho UFMG
• Armando A. Neto UFMG
• Fernando O. Souza UFMG

DOI: https://doi.org/10.5753/sbrlars_estendido.2023.234740

Resumo

Pelotões autônomos surgiram como alternativas eficientes para o transporte de carga, e extensas pesquisas foram realizadas para abordar questões de segurança e eficiência. No entanto, a maior parte da literatura existente assume conectividade contínua entre veículos de pelotão, desconsiderando alcances de comunicação limitados e atrasos. Neste trabalho, focamos no desafio de manter a conectividade e a estabilidade nos pelotões, mesmo em caso de desconexão total. Nosso objetivo é aumentar a tolerância a vários fatores, incluindo saídas de agentes, elementos externos (por exemplo, semáforos e veículos conduzidos por humanos) e condições iniciais não ideais, melhorando assim a segurança do tráfego em cenários de tráfego misto. Ao tratar a alteração de estado como um problema de rastreamento de referência, propomos um procedimento de projeto que garante estabilidade e erro de espaçamento zero em estado estacionário. Por meio de simulações baseadas em agentes e não lineares, demonstramos a eficácia do nosso protocolo de controle, permitindo que os veículos cheguem ao consenso com o pelotão mesmo quando começam desconectados dos demais.

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