Title: Automated short distance vehicle following using a dynamic base RTK system

Authors: William Travis, Scott Martin, David M. Bevly

Addresses: The GPS and Vehicle Dynamics Lab, Auburn University, 270 Ross Hall, Auburn, AL 36849, USA. ' The GPS and Vehicle Dynamics Lab, Auburn University, 270 Ross Hall, Auburn, AL 36849, USA. ' The GPS and Vehicle Dynamics Lab, Auburn University, 270 Ross Hall, Auburn, AL 36849, USA

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.

Keywords: UGV; unmanned ground vehicles; autonomous vehicles; relative position; RTK; real-time kinematics; GPS; GNSS; automated convoys; vehicle platooning; vehicle platoons; formation control; vehicle positioning.

DOI: 10.1504/IJVAS.2011.038183

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.1/2, pp.126 - 141

Received: 30 Jun 2009
Accepted: 27 Apr 2010
Published online: 10 Apr 2015 *

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