RT Conference Proceedings
T1 Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios
A1 Arizala, Asier
A1 Alonso, Gorka
A1 Pérez, Joshué
A1 Zubizarreta, Asier
A2 Marques, Lino
A2 Santos, Cristina
A2 Lima, José Luís
A2 Tardioli, Danilo
A2 Ferre, Manuel
AB 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.
PB Springer Science and Business Media Deutschland GmbH
SN 9783031586750
SN 2367-3370
YR 2024
FD 2024
LK https://hdl.handle.net/11556/4763
UL https://hdl.handle.net/11556/4763
LA eng
NO Arizala , A , Alonso , G , Pérez , J & Zubizarreta , A 2024 , Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios . in L Marques , C Santos , J L Lima , D Tardioli & M Ferre (eds) , Robot 2023 : 6th Iberian Robotics Conference Advances in Robotics, Volume 1 . Lecture Notes in Networks and Systems , vol. 976 LNNS , Springer Science and Business Media Deutschland GmbH , pp. 272-283 , 6th Iberian Robotics Conference, Robot 2023 , Coimbra , Portugal , 22/11/23 . https://doi.org/10.1007/978-3-031-58676-7_22
NO conference
NO Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
DS TECNALIA Publications
RD 28 sept 2024