A Fleet of Miniature Cars for Experiments in Cooperative Driving
A Fleet of Miniature Cars for Experiments in Cooperative Driving
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用于合作驾驶实验的微型汽车车队
DOI：
10.1109/icra.2019.8794445
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Amanda Prorok
中科院分区：
文献类型：
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作者：
Nicholas Hyldmar;Yijun He;Amanda Prorok
我们推出了一个独特的实验测试台，由 16 辆微型阿克曼转向车辆组成。我们的动力来自于缺乏可用的低成本平台来支持多车导航和轨迹规划的研究和教育。本文详细介绍了我们的微型机器人汽车 Cambridge Minicar 的设计以及车队的控制架构。我们的实验测试台使我们能够实现最先进的驾驶员模型以及自主控制策略，并在真实的物理多车道设置中测试其有效性。通过在我们的微型高速公路上进行的实验，我们能够切实地展示多车道道路地形上协同驾驶的好处。我们的设置为室内大型机队实验研究铺平了道路。
We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and trajectory planning. This article elaborates the design of our miniature robotic car, the Cambridge Minicar, as well as the fleet’s control architecture. Our experimental testbed allows us to implement state-of-the-art driver models as well as autonomous control strategies, and test their validity in a real, physical multi-lane setup. Through experiments on our miniature highway, we are able to tangibly demonstrate the benefits of cooperative driving on multi-lane road topographies. Our setup paves the way for indoor large-fleet experimental research.