Platooning over packet-dropping links
by S. Seshadhri, R. Ayyagari
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 9, No. 1/2, 2011

Abstract: Automated Highway Systems (AHSs) used for eliminating highway congestion in urban areas, require platooning of vehicles. Platooning usually involves communication channels among the vehicles in a platoon and as well as the platoons. One major challenge in the implementation of platoons is the packet dropouts in the communication channels, as they affect the rigidity of the platoon. In our investigations, we first show that the rigidity of the platoon is lost in the presence of packet losses. Later, we propose an estimation based platooning algorithm for vehicles connected using communication links with random packet dropouts. We also examine the problem of minimal channel utilisation by employing the estimate. Furthermore, we explore the data that is to be transmitted given that a packet dropout has occurred. The obtained results are illustrated using simulations conducted on a platoon of holonomic point vehicles.

Online publication date: Fri, 10-Apr-2015

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