Print Email Facebook Twitter Optimization based 2D platoon control with multiple behaviors implemented through a finite state machine Title Optimization based 2D platoon control with multiple behaviors implemented through a finite state machine Author Razdan, Shuhul (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Wahls, S. (mentor) Ferranti, L. (mentor) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2021-07-28 Abstract With inland transportation increasing every passing day, vehicle platooning offers a good solution towards travelling more efficiently. Along with reducing traffic congestion on roads, platooning also leads to better fuel consumption among vehicles, fewer accidents, and most importantly, vehicle platoons can be made autonomous using optimization-based control techniques, such as Model Predictive Control (MPC). Much research has been done towards optimise fuel consumption through slip-streaming and by using topological data. A separate research field also looks into performing lanes changes and avoiding obstacles. However, both these research fields are disjointed and use a different model and MPC formulations to employ control. This project aims at developing an unified system that can implement longitudinal control (fuel optimisation), formation reconfiguration (lane changes) and collision avoidance using one model and MPC formulation. The platoon switches between these behaviours depending on the environment around the platoon. This report also highlights the limitations of the controller and gives concrete recommendations on how to deal with the shortcomings. Subject PlatooningAutonomous drivingCollision Avoidancelongitudinal controlMPC To reference this document use: http://resolver.tudelft.nl/uuid:7200aa2a-899a-40c1-a8fa-db395e9b2225 Part of collection Student theses Document type master thesis Rights © 2021 Shuhul Razdan Files PDF MSc_Thesis_Report_Shuhul_Razdan.pdf 4.26 MB Close viewer /islandora/object/uuid:7200aa2a-899a-40c1-a8fa-db395e9b2225/datastream/OBJ/view