کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

Centralized MPC for Platoon Control: Experimental Validation with a Physical Robot via SIL Simulation

نویسندگان :

Pariya Rezaei Chiyaneh¹ Abdolah RoshanaeeDeh² Iman Sharifi³ Heidar Ali Talebi⁴

1- دانشگاه صنعتی امیرکبیر 2- دانشگاه صنعتی امیرکبیر 3- دانشگاه صنعتی امیرکبیر 4- دانشگاه صنعتی امیرکبیر

کلمات کلیدی :

Model Predictive Control (MPC)،Vehicle Platooning،Longitudinal distance control،Software-in-the- Loop (SIL)،Mobile robots

چکیده :

Abstract—This paper presents a centralized Model Predictive Control (MPC) approach for vehicle platooning using single integrator dynamics. In this study, a control strategy is developed where the lead vehicle directs a platoon of followers to maintain specified distances. The MPC formulation is designed to optimize the control inputs of all vehicles, ensuring that desired inter-vehicle distances are preserved while adhering to dynamic constraints. The control framework is implemented on a physical mobile robot and a group of virtual follower robots in a Software-in-the-Loop (SIL) environment, validating the efficacy of the MPC formulation for longitudinal distance regulation. Experimental results demonstrate the system’s ability to achieve stable platoon coordination under the centralized MPC scheme, demonstrating its potential for real-world autonomous vehicle systems.