Automatisierungstechnik und Prozessinformatik

Kolonnenregelung

• P. Welz, M. Fischer, J. Lunze:
  Experimentelle Erprobung einer kollisionsfreien Abstandsregelung für mobile Roboter
  at - Automatisierungstechnik, Vol. 68, No. 1, 2020.
  
  Abstract:
  This paper describes the experimental set-up SAMS and collisions-free platooning of mobile robots on a circular path deals with the collision-free platooning of mobile robots on a circular path at the demonstration set-up SAMS. First, a low-level path-following control is designed in a Two-Degree-of-Freedom structure, which limits the motion of the mobile robots to a circular path. Second, the design of high-level controller to maintain the time-headway spacing of the robots on a circular path is described and discussed according to two different design criteria. The experiments show that collision-free time-headway spacing can only be guaranteed for robots with externally positive dynamics.
  
  
• A. Schwab, J. Lunze:
  Design of Adaptive Cruise Controllers for Externally Positive Vehicles
  21st IFAC World Congress, Berlin, 2020.
  
  Abstract:
  This paper addresses the design of adaptive cruise controllers for guaranteed collision avoidance. The design problem is solved with distributed feedback controllers which work with locally measurable quantities and, hence, do not require a centralised coordinating unit or a communication system. The design objectives are achieved by placing the closed-loop eigenvalues in a proposed set so that the controlled vehicle is asymptotically stable and satisfies a sufficient condition on external positivity.