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dc.contributor.authorWang, Yuanzheen_US
dc.contributor.authorZhao, Chunyangen_US
dc.contributor.authorLiang, Jiahaoen_US
dc.contributor.authorWen, Mingxingen_US
dc.contributor.authorYue, Yufengen_US
dc.contributor.authorWang, Danweien_US
dc.identifier.citationWang, Y., Zhao, C., Liang, J., Wen, M., Yue, Y. & Wang, D. (2023). Integrated localization and planning for cruise control of UGV platoons in infrastructure-free environments. IEEE Transactions On Intelligent Transportation Systems, 24(10), 10804-10817.
dc.description.abstractThis paper investigates the cruise control problem of unmanned ground vehicle (UGV) platoons from the implementation perspective. Unlike most existing works related to platoon cruise control which rely on positioning infrastructures such as lane markings, roadside units, and global navigation satellite systems (GNSS), this paper explores a new problem: platoon cruise control in environments without positioning infrastructures. The introduction of this constraint disables most existing cruise control approaches. To address this problem, an integrated localization and planning framework is proposed, which is composed of three modular algorithms. Firstly, to localize multiple vehicles in a common coordinate system, a collaborative localization algorithm is developed through matching local perceptions of different vehicles. Secondly, to maintain the desired platoon configuration, the historical trajectory of the preceding vehicle is reconstructed, based on which the target state is planned for the following vehicle. Finally, a virtual controller based algorithm is designed to generate feasible trajectories for the following vehicle in real time. The proposed framework has two salient features. Firstly, it does not depend on positioning infrastructures and does not introduce additional positioning sensors, such as GNSS/INS modules, ultra-wideband (UWB) devices, magnetic meters and so on, as long as each vehicle is equipped with a perception sensor (Lidar, radar or camera), which however is essential equipment for nowaday autonomous systems. Secondly, the proposed framework does not depend on direct observations between vehicles to achieve relative localization, making it applicable in non-line-of-sight (non-LOS) situations. Real-world experiments have been conducted to validate the effectiveness, robustness and practicality of the proposed framework.en_US
dc.description.sponsorshipAgency for Science, Technology and Research (A*STAR)en_US
dc.relation.ispartofIEEE Transactions on Intelligent Transportation Systemsen_US
dc.rights© 2023 IEEE. All rights reserved.en_US
dc.subjectEngineering::Electrical and electronic engineeringen_US
dc.titleIntegrated localization and planning for cruise control of UGV platoons in infrastructure-free environmentsen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.subject.keywordsUnmanned Ground Vehicleen_US
dc.subject.keywordsVehicle Platoonen_US
dc.description.acknowledgementThis work was supported in part by the Agency for Science, Technology and Research (A*STAR) under its National Robotics Program under Project W2122d0245 and Project M22NBK0109; and in part by the National Natural Science Foundation of China under Grant 62003039.en_US
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