Е-Публикации
Технически университет - София

Abstract: In this paper, a kinematic model of a mechanically couple platoon of two car-like vehicles is developed. Two different forms of the kinematic equations of motion are derived depending of the generalized coordinates used for the system description. The kinematic model is obtained in the form of a nonlinear driftless control system which is affine in the control inputs and can be employed for the design of different types of low-speed steering controllers for the following vehicle in the vehicle platoon. A linear feedback steering control for the following vehicle in the platoon is designed. Computer simulation tests using the derived kinematic equations of motion of the vehicle platoon along a curved path are carried out, in order to evaluate the validity of the developed kinematic model of the mechanically coupled car-like vehicle platoon and steering control.

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