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arXiv · 2109.05988

Constraint-Driven Optimal Control of Multi-Agent Systems: A Highway Platooning Case Study

Logan E. Beaver·Andreas A. Malikopoulos
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Abstract

Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles operating in an open transportation system. Our approach combines recent insights in constraint-driven optimal control with the physical aerodynamic interactions between vehicles in a highway setting. The result is a set of equations that describes when platooning is an appropriate strategy, as well as a descriptive optimal control law that yields emergent platooning behavior. Finally, we demonstrate these properties in simulation.

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BibTeXRIS

Logan E. Beaver, Andreas A. Malikopoulos. 2021-09-13. Constraint-Driven Optimal Control of Multi-Agent Systems: A Highway Platooning Case Study. https://doi.org/10.1109/lcsys.2021.3133801

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