This study proposes an autonomous platooning algorithm, composed of velocity, and path planning systems, of multiple ground vehicles in rough terrain. The velocity planning system aims to maintain desired distance between preceding and rear vehicles, and the path planning system generates reliable path to make the vehicles move safely under the given rough environment. To supply a reliable velocity command for the maintenance of the predefined distance, a disturbance observer (DOB)‐based control method is employed. An uncertainty‐free longitudinal kinematic model is first utilized for a nominal velocity generator and the DOB is added to the nominal velocity planner for handling various uncertainties generated during the autonomous platooning. On the other hand, the path planning method is developed by employing a passivity‐based model predictive control method. With a derived passivity constraint, the stability of the platooning architecture, that is, the platooning performance, is improved. In addition, the proposed path planning method utilizes dynamic and kinematic models of the ground vehicle as equality constraints, and limited range of states and control input as inequality constraints, and perception result about the vehicle's own neighborhood is employed for generation of the path only in traversable region. Its solution is obtained using the particle swarm optimization method. Then, to follow the generated velocity and path commands, a well developed driving controller, commercially obtainable, is utilized. Finally, field tests are conducted to validate the performance of the proposed algorithm.

中文翻译：

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崎terrain地形中多辆地面车辆的自主排

这项研究提出了一种在地面上由多个地面车辆组成的自主排算法，该算法包括速度和路径规划系统。速度计划系统旨在维持前后车辆之间的所需距离，并且路径计划系统生成可靠的路径，以使车辆在给定的恶劣环境下安全行驶。为了提供可靠的速度命令以维持预定的距离，采用了基于干扰观测器（DOB）的控制方法。首先将无不确定性的纵向运动学模型用于标称速度生成器，并将DOB添加到标称速度计划器中，以处理自主排练过程中产生的各种不确定性。另一方面，通过采用基于被动性的模型预测控制方法来开发路径规划方法。通过派生的被动约束，改进了排结构的稳定性，即排性能。另外，所提出的路径规划方法利用地面车辆的动态和运动学模型作为均等约束，而有限的状态范围和控制输入作为不等式约束，并且关于车辆自身邻域的感知结果仅用于生成路径。遍历区域。它的解决方案是使用粒子群优化方法获得的。然后，为了遵循所产生的速度和路径命令，使用了可商购的，完善的驱动控制器。最后，