Abstract
Vehicle platooning has become a topic of substantial interest for the development of safer and more efficient means of transportation. It is described as a string of connected autonomous vehicles traveling closely, maintaining certain inter-vehicular distances at a set speed boosting the road capacity, improving safety, and lowering adverse environmental significance. Several platooning concepts are revealed. A unified integrated platoon control architecture is constructed, employing the aforementioned concepts. Several control algorithms are investigated, optimized, and compared to manage the longitudinal inter-vehicular spacing distances of a formed platoon, as well as the lateral platoon motion tracking. The outperformed controllers are utilized in an integrated platooning scenario. Simulations are visualized using the multi-robot systems intelligent transportation systems (MRS-ITSs) visualization tool for further realization of the results.
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