1. Proceedings
  2. I3M
  3. 2021
  4. MAS
  5. 10.46354/i3m.2021.mas.019

Decentralized navigation control of multiple vehicles with obstacle avoidance

  • a M-M.Mohamed-Ahmed  , 
  • b Aziz Naamane
  • a,b Aix Marseille University, Université de Toulon, CNRS, LIS, Marseille, France
Cite as
Mohamed-Ahmed M.M., Naamane A. (2021). Decentralized navigation control of multiple vehicles with obstacle avoidance. Proceedings of the 20th International Conference on Modeling & Applied Simulation (MAS 2021), pp. 152-161. DOI: https://doi.org/10.46354/i3m.2021.mas.019

Abstract

This paper explains how to provide the control systems of a vehicle convoy with obstacle avoidance capabilities. The control system proposed in this paper ensures the convoy’s longitudinal and lateral safety with respect to the environment. The lateral convoy control approach consists of controlling the vehicles to avoid obstacles based on the sigmoid function used with a sliding mode control. The sigmoid function parameters are chosen according to the convoy’s position regarding the obstacle and the deviation towards the second lane for a multi-lane trajectory. The longitudinal control is based on a decentralized global approach using a linearization control by inverse dynamics to avoid the error accumulation. The whole strategy is validated on our SCANeRTM-Studio platform for a convoy of 5 vehicles. The validation results show the effectiveness of the proposed approach which ensures local safety between the vehicles.

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