Abstract: This paper presents an adaptive tracking controller for a two-vehicle convoy where the lead vehicle is driven in reverse. We assume that the lead vehicle linear and angular velocities are unknown constant parameters. We consider the problem of autonomous vehicle tracking without the use of road infrastructure or inter-vehicle communication. The only information the robot vehicle can use for feedback control is the relative position and orientation with respect to the lead vehicle obtained from onboard sensing. The control velocities of the ego-vehicle are computed using the leader velocity estimates obtained from the dynamic part of the proposed controller. The proposed adaptive control law achieves asymptotic stabilization of the closed-loop system in error coordinates. In highway systems, grouping vehicles into platoons can improve road capacity and energy efficiency. With the advance of technologies, the performance of platoons can be further enhanced by vehicular ad hoc networks (VANETs). In the past few years, many studies have been conducted on the dynamics of a VANET-enabled platoon under traffic disturbance, which is a common scenario on a highway. However, most of them do not consider the impact of platoon dynamics on the behaviors of VANETs. Moreover, most existing studies focus on how to maintain the stability of a platoon and do not address how to mitigate negative effects of traffic disturbance, such as uncomfortable passenger experience, increased fuel consumption, and increased exhaust emission. In this paper, we will investigate the dynamics of the VANET-enabled platoon from an integrated perspective. In particular, we first propose a novel disturbance-adaptive platoon (DA-Platoon) architecture, in which a platoon controller shall adapt to the disturbance scenario and shall consider both VANET and platoon dynamics requirements.
Keywords: Vehicular Ad Hoc Networks (VANETs), platoon, VANET connectivity, Inter platoon connectivity, MANET.
Title: Efficient Packet Delivery Mechanism Using Vehicle Platoon for A VANET Network
Author: Prabhavathi k
International Journal of Computer Science and Information Technology Research
ISSN 2348-1196 (print), ISSN 2348-120X (online)
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