Automated short distance vehicle following using a dynamic base RTK system
by William Travis, Scott Martin, David M. Bevly
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 9, No. 1/2, 2011

Abstract: Real-time results from a close distance vehicle platoon in which the lead vehicle was man driven and the following vehicle was automated are shown. A dynamic base RTK (DRTK) algorithm was used to determine a precise relative position vector between the vehicles. The vector was used as a means of controlling the following vehicle to the lead vehicle's path of travel. The DRTK algorithm, control concept and automated convoy are described. Results show the accuracy of the DRTK algorithm to be centimetre level and demonstrate the feasibility of the control concept. An expression for the theoretical error is provided.

Online publication date: Fri, 10-Apr-2015

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