Controller Design
10.1 Future Work
10.1 Future Work
As mentioned earlier in this chapter, there is still work left to be done on the system.
The remaining work that needs to be done in order to achieve a complete model-scale platoon can be divided into two main parts.
The first part is to refine the existing hardware and implementation where, as mentioned, the motor actuator is a prime candidate for updates. There is also the reliance on a router which means that in order to demonstrate the platoon, a wall power socket is required. This problem can be avoided in many different ways, the straightforward way would be making the power source of the router mobile, changing the network implementation to not rely on a router and instead talk directly vehicle to vehicle would be another viable option. Furthermore, additional vehicles should be constructed in order to test and demonstrate platooning in larger platoons, since the simulations have shown that more vehicles would display more behaviour interesting behaviours such as the wave behaviour seen at the heuristic feedback controller.
The second part is geared towards expanding the system functionality. Here sev-eral additional features, which are nice features to have and will increase the simi-larity between the model vehicle platoon and possible future full-scale vehicles, are presented. One of the main things to do is to implement a lateral controller, which controls the wheel angle making the non-lead vehicle fully autonomous. Another interesting idea is to implement something akin to a GPS with the challenges that come from the margin of error of a much smaller vehicle than what is normally utilising GPS. Having a GPS-like system could be key in achieving a platoon where the vehicles can dynamically change their positions according to some optimising function or hypothetical driving schedule. On that note achieving such a system with dynamic vehicle position and in-platoon takeovers would also make an interesting research topic.
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