The design of following controller for autonomous vehicle based on leader-follower strategies

Abstract

Aiming at the problem of following control of autonomous vehicle, the following controller is designed based on Leader-follower strategies. First, the kinematic modeling is done. Next, Leader-follower model is used to describe the following structure and L − ϕ method is used to build error system. Then, The speed controller for the follower is designed to achieve the objectives. Finally, the simulation is done by Matlab, the results show that the controller is effective.

Keywords

• autonomous vehicle
• leader-follower strategies
• error system
• speed controller