%0 Generic
%A Arizala, Asier
%A Alonso, Gorka
%A Pérez, Joshué
%A Zubizarreta, Asier
%T Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios
%J Lecture Notes in Networks and Systems
%D 2024
%@ 2367-3370
%U https://hdl.handle.net/11556/4763
%X This paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.
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