Paper Info
Title
Global Estimation For The Convoy Of Autonomous Vehicles Using The Sliding-Mode Approach
Abstract
In this paper, a global estimation approach is proposed to estimate the states of motion (longitudinal, lateral and yaw angle) of a convoy of autonomous vehicles, which is composed of four cars and also the inter-distance between each two neighboring vehicles. The approach used is based on the first-order sliding mode (FOSM) and second-order sliding mode (SOSM) observer without and with linear gain (FOSML and SOSML), to estimate and compare at the same time the estimation approach used for each vehicle in convoy. To validate this approach, we use data from SCANeR (TM)-Studio of a convoy moving in a defined trajectory. The robustness of the observers towards estimation errors on the model parameters will be studied.
Year
DOI
Venue
2020
10.5220/0009805702840293
ICINCO: PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS
Keywords
DocType
Citations 
Autonomous Vehicles, Convoy, State Estimation, First-Order Sliding Mode Observer, Second-Order Sliding Mode Observer, Inter-distance Estimation
Conference
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
M.-Mahmoud Mohamed-Ahmed100.34
Aziz Naamane200.34
Nacer Kouider M'sirdi35211.59