System Integration and Field Testing of Low-Cost Autonomous Platooning Platforms: Collision Avoidance Scenario

초록

This paper presents the development and validation of a scalable platooning system based on the predecessor-following (PF) topology, designed for low-cost follower platforms. It integrates key technologies such as localization, path planning, profile generation, and low-level control to create a practical solution. Real-time localization is enhanced through a hierarchical control structure that combines high-level planning with low-level execution. The high-level controller manages path planning for followers, generating steering angles and velocity profiles, while also ensuring the leader's collision-free path planning. The low-level controller ensures precise execution by handling velocity and steering control with pose estimation. The hardware configuration is optimized for seamless integration and reliable operation. Field demonstrations of obstacle avoidance scenarios showcased the feasibility of the low-cost platooning system and validated its practical performance. Although tested in a structured environment, the system underwent complex maneuvers such as rapid accelerations, decelerations, and cornering, demonstrating its stability and efficiency and indicating readiness for deployment in more challenging scenarios. This study highlights the potential of PF-based platooning for cost-effective platforms, providing a strong foundation for scalable, robust autonomous systems and contributing to advancements in intelligent transportation for real-world deployment.

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