Platoon Control for the Transport of Heavy Vehicles in the Internet of Things

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Iman Sharifi Iman Sharifi; Sharifi Iman

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: JOURNAL OF IRANIAN ASSOCIATION OF ELECTRICAL AND ELECTRONICS ENGINEERS Year:2022 | Volume:19 | Issue:3 Page(s): 227-235

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Information Journal Paper

Title

Platoon Control for the Transport of Heavy Vehicles in the Internet of Things

Author(s)

Sharifi Iman Sharifi" target="_blank">Iman Sharifi Iman Sharifi | Sharifi Iman | Issue Writer Certificate

Keywords

Platoon vehicle control

Interconnected cars

Cyberattacks in cars

Consensus controllers in cars

Prevent cars from colliding with obstacles in Platoon.

Abstract

This paper studies the Platooning of heavy vehicles based on the Internet of Things. In this context, the term “Platoon” means that the cars move in groups together in a certain order and direction, led by one of their teammates. Platooning of heavy vehicles are very effective in reducing the pollution, the traffics and its consequent accidents, while increasing the road capacity. In the Internet of Things, vehicles can connect together over internet and share their position and other data that are necessary to control vehicles in group that is called V2V (Vehicle-to-Vehicle) communication. When vehicles controlled over internet of things, drivers can receive information such as road traffic, and traffic sings which is called V2I (Vehicle-to-Infrastructure) communication. In this paper, a novel resilient controller is designed to prevent cyber-attacks while it is robust against static/moving obstacles inside the group. At the end, the proposed theory is implemented on two real non-holonomic robots with three wheels. Moreover, a number of virtual robots are designed and implemented inside software-in-the-loop system to emulate the Platoon. The results confirmed the superiority of the proposed method.

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